Name
Abstract | ||
|---|---|---|
This paper considers how a multi-limbed robot can carry out manipulation tasks involving simultaneous and compatible end-effector velocity and force goals, while also maintaining quasi-static stance stability. The formulation marries a local optimization process with an assumption of a compliant model of the environment. For purposes of illustration, we first develop the formulation for a single fixed based manipulator arm. Some of the basic kinematic variables we previously introduced for multi-limbed robot mechanism analysis in [1] are extended to accomodate this new formulation. Using these extensions, we provide a novel definition for static equilibrium of multi-limbed robot with actuator limits, and provide general conditions that guarantee the ability to apply arbitrary end-effector forces. Using these extended definitions, we present the local optimization problem and its solution for combined manipulation and stance. We also develop, using the theory of strong alternatives, a new definition and a computable test for quasi-static stance feasibility in the presence of manipulation forces. Simulations illustrate the concepts and method. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/ICRA.2015.7139830 | IEEE International Conference on Robotics and Automation |
Keywords | Field | DocType |
end effectors,force control,manipulator kinematics,mobile robots,motion control,stability,actuator limits,end-effector force,end-effector velocity,kinematics,local optimization process,motion control,multilimbed robot,quasistatic force control,quasistatic stance stability,single fixed based manipulator arm,static equilibrium | Mechanical equilibrium,Motion control,Kinematics,Inverse kinematics,Control theory,Robot kinematics,Control engineering,Local search (optimization),Engineering,Robot,Actuator | Conference |
Volume | Issue | ISSN |
2015 | 1 | 1050-4729 |
Citations | PageRank | References |
0 | 0.34 | 14 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Krishna Shankar | 1 | 26 | 3.56 |
| Burdick, J.W. | 2 | 2988 | 516.87 |