Name
Title | ||
|---|---|---|
Optimal control of energetically efficient ladder decent motion with internal stress adjustment using key joint method |
Abstract | ||
|---|---|---|
For multi-contact robot motion, a closed chain is formed by robot links and the environment. This paper proposes a new methodology named “key joint method” for reducing the energy cost by adjusting an internal stress inside a closed chain. Firstly, we analyze the internal stress theoretically taking the degrees of freedom (DOF) and the number of position actuated joints into consideration, then a practical key joint method is proposed by changing a suitable redundant position controlled joint to be force control. After that, a parametric family is introduced for representing various of possible motions subjected to the robot dynamics and other constraints. Finally, a general optimization method is proposed for planning an energetically efficient multi-contact robot motion taking the motion trajectories and internal stress into consideration. As an example, the pace gait ladder decent motion is taken to explain the principle and realization of the proposed method. As experimental evaluation shows, the key joint method is effective for reducing the energy cost in the multi-contact motion. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/IROS.2012.6385887 | IROS |
Keywords | Field | DocType |
key joint method,optimisation,energy cost reduction,internal stress adjustment,robot dynamics,position actuated joints,optimal control,motion control,parametric family,energetically efficient ladder decent motion,pace gait ladder decent motion,mobile robots,robot link,internal stress analysis,suitable redundant position controlled joint,cost optimal control,force control,path planning,trajectory control,general optimization method,motion trajectory,ladders,stress control,closed chain,energetically efficient multicontact robot motion planning,optimization,vectors,end effectors,torque | Motion planning,Motion control,Optimal control,Torque,Parametric family,Computer science,Control theory,Robot end effector,Control engineering,Robot,Mobile robot | Conference |
Volume | Issue | ISSN |
null | null | 2153-0858 |
ISBN | Citations | PageRank |
978-1-4673-1737-5 | 2 | 0.43 |
References | Authors | |
8 | 6 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Zhiguo Lu | 1 | 17 | 4.23 |
| Kosuke Sekiyama | 2 | 296 | 58.93 |
| Tadayoshi Aoyama | 3 | 69 | 28.58 |
| Yasuhisa Hasegawa | 4 | 456 | 94.62 |
| Taisuke Kobayashi | 5 | 31 | 10.92 |
| Toshio Fukuda | 6 | 2723 | 818.58 |