Welcome to the new version of CaltechAUTHORS. Login is currently restricted to library staff. If you notice any issues, please email coda@library.caltech.edu
Published June 2014 | Accepted Version
Book Section - Chapter Open

Kinematics and Methods for Combined Quasi-static stance/reach planning in multi-limbed robots

Abstract

This paper provides kinematic analysis and local motion planning methods for multi-limbed robots. In particular, we consider combined stance and reach tasks for robotic mechanisms whose limbs can be used either as legs or manip- ulator arms. An example of such a system is the RoboSimian robot participating in the DARPA Robotics Challenge (Figure 1). We develop relationships which model the key quasi- statics and kinematics of these mechanisms: the stance map, the stance Jacobian, and the reach Jacobian, as well as the stance constrained center-of-mass Jacobian. We also introduce characterizations of multi-limbed mechanism configurations in terms of the properties of these maps: local dexterity and limberness. This paper also introduces local planning methods which seek to balance the motion of legs, body, and arms of such mechanisms so as to realize manipulation goals while also maintaining awareness of stance stability issues. Examples with a simple planar model illustrate the methods.

Additional Information

©2014 IEEE.

Attached Files

Accepted Version - root.pdf

Files

root.pdf
Files (533.9 kB)
Name Size Download all
md5:d7ec39619504b6b047fd92e01e21026e
533.9 kB Preview Download

Additional details

Created:
August 20, 2023
Modified:
October 18, 2023