Kinematic control and posture optimization of a redundantly actuated quadruped robot

Thomson, Travis; Sharf, Inna; Beckman, Blake

doi:10.1109/icra.2012.6224927

Cited by 32 publications

(15 citation statements)

References 33 publications

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“…Angles for the front and rear segments can be calculated using (15) and (16) which are given to the robot to achieve step climbing with minimum torque posture during stage-1. As the distance, D step , reduces to zero the contact point of the robot shifts from the front segment to middle segment marking the beginning of stage-2.…”

Section: Front Idler Pulley Interference With Terrainmentioning

confidence: 99%

“…The control program calculates the desired angles of the front and rear segments based on the polynomials (15) and (16). The error in desired and actual values of the angles is used to calculate the velocities of the two joint motors and fed back to the MSC VISUAL NASTRAN model.…”

Section: Simulationmentioning

confidence: 99%

“…Reconfigurable robots can be made to adopt postures during step climbing which result in less power consumption. Control schemes for energy optimization have been developed for wheeled robots with passive and active suspension mechanisms [13], [14] and [15]. However, the energy optimization in these systems focused on minimizing the traction forces at the wheel ground interaction rather than torques of active joints.…”

Section: Introductionmentioning

confidence: 99%

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Posture control of a three-segmented tracked robot with torque minimization during step climbing

Singh

Jadhav

Krishna

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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In this paper, we present a posture control scheme for step climbing by an in-house developed three-segmented tracked robot, miniUGV. The posture control scheme results in minimum torque at the actuated joints of the segments. Non-linear optimization is carried out offline for progressively decreasing distance of the robot from the step with torque minimization as objective function and force balance, motor torque limits, slippage avoidance and interference avoidance constraints. The resulting angles of the joints are fitted to a third degree polynomial as a function of the robot distance from the step and the step height. It is shown that a single set of polynomial functions is sufficient for climbing steps of all permissible heights and angles of attack of the front segment. The methodology has been verified through simulation followed by implementation on the real robot. As a consequence of this optimization we find that the average current reduced by more than thirty percent, reducing power consumption and confirming the efficacy of the optimization framework.

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Section: Front Idler Pulley Interference With Terrainmentioning

confidence: 99%

Section: Simulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Posture control of a three-segmented tracked robot with torque minimization during step climbing

Singh

Jadhav

Krishna

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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“…These robots are capable of climbing steps of heights larger than their wheel radius, require intricate control algorithms to perform such maneuvers. Some of the proposed designs, such as MHT [4], use active wheellegs to climb steps and overcome obstacles. These robots are referred to as hybrid robots because they combine the mobility of the wheel, and the climbing capabilities of legs.…”

Section: Introductionmentioning

confidence: 99%

Dynamic analysis of an angular swivel steering mechanism with applications to step climbing

Salem

Shammas

Asmar

et al. 2014

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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In this paper, we introduce a novel mobile robotic platform that is capable of navigating rough terrains. The proposed design utilizes an active angular swivel steering mechanism to perform wide-range steering as well as obstacle climbing. We extend the previously conducted kinematic analysis and develop dynamic models of the proposed platform to showcase its locomotive capabilities. Finally, we introduce a simple step-climbing path planning method.

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“…Second, rank deficiency occurs when solving the simultaneous Eqs. (11) and (13). This case is the singular configuration when solving the constraints simultaneously (Fig.…”

Section: Singular Configuration Of the Robotmentioning

confidence: 99%

Comparison of Methods for Solving the Singular Configuration of a Wheel-Legged Mobile Robot

Nagano

Fujimoto

2016

IEEJ Journal IA

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In this paper, the singular configuration problem of a wheel-legged mobile robot due to the rank deficiency in inverse kinematics is discussed. Rank deficiency occurs when multiple kinematic constraints conflict with each other or when the steering joint becomes perpendicular to the ground surface. A method was proposed for avoiding a singular configuration while simultaneously solving the constraints that uses inverse kinematics that considers priority and solves the singular configuration of the steering joint using kinematic constraints on acceleration. Consequently, a new singular configuration occurs in low-speed wheeled locomotion. The Levenberg-Marquardt method is used for the singular configuration in low-speed wheeled locomotion. This method is necessary for determining a suitable damping factor, because it affects the solution of the inverse kinematics. Therefore, a comparison of different damping factor determination methods and a proposed method that considers the steering motion of each leg are highlighted.

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Kinematic control and posture optimization of a redundantly actuated quadruped robot

Abstract: ACKNOWLEDGEMENTS

Cited by 32 publications

References 33 publications

Posture control of a three-segmented tracked robot with torque minimization during step climbing

Posture control of a three-segmented tracked robot with torque minimization during step climbing

Dynamic analysis of an angular swivel steering mechanism with applications to step climbing

Comparison of Methods for Solving the Singular Configuration of a Wheel-Legged Mobile Robot

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