Skip to main content
Fachgebiete
Automobil + Motoren Bauwesen + Immobilien Business IT + Informatik Elektrotechnik + Elektronik Energie + Nachhaltigkeit Finance + Banking Management + Führung Marketing + Vertrieb Maschinenbau + Werkstoffe Versicherung + Risiko
DE
EN
Bücher
Zeitschriften
Themenseiten
Organisationspsychologie Projektmanagement Marketing Smart Manufacturing
Weitere Formate
Podcasts Webinare Technik Webinare Wirtschaft Kongresse Veranstaltungskalender Awards
Jetzt Einzelzugang starten
Zugang für Unternehmen
Referenzkunden
SLX-Digitalkonferenz: Zukunftswerkstatt 2024

Mehr Umsatz mit Top-Kontakten

Am 7. Mai erfahren Sie, wie Vertriebsteams Leadgenerierung, Leadnurturing und Leadstrategien effizient steuern können.
Erweiterte Suche
Anmelden
nach oben
Autonomous Robots
Erschienen in: Autonomous Robots 7/2020

14.07.2020

A unified kinematics modeling, optimization and control of universal robots: from serial and parallel manipulators to walking, rolling and hybrid robots

verfasst von: Mahmoud Tarokh

Erschienen in: Autonomous Robots | Ausgabe 7/2020

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

The paper develops a unified kinematics modeling, optimization and control that is applicable to a wide range of autonomous and non-autonomous robots. These include hybrid robots that combine two or more modes of operations, such as combination of walking and rolling, or rolling and manipulation, as well as parallel robots in various configurations. The equations of motion are derived in compact forms that embed an optimization criterion. These equations are used to obtain various useful forms of the robot kinematics such as recursive, body and limb-end kinematic forms. Using the modeling, actuation and control equations are derived that ensure traversing a desired path while maintaining balanced operations and tip-over avoidance. Various simulation results are provided for a hybrid rolling-walking robot, which demonstrate the capabilities and effectiveness of the developed methodologies.
Vorheriger Artikel Disturbance observer enhanced variable gain controller for robot teleoperation with motion capture using wearable armbands
Nächster Artikel Manipulation planning under changing external forces

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Jetzt informieren
Fußnoten
1
In this paper we use the notation \( T_{A,B} \) to describe frame B relative to frame A, or the transformation from frame \( A \) to frame \( B \). This notation is equivalent to \( {}_{B}^{A} T \) used in some books, e.g. (Craig 2018).
 
Literatur
Alamdari, A., Zhou, X., & Koovi, V. N. (2013). Kinematic modelling, analysis and control of highly reconfigurable articulated wheeled vehicles. In Proc. ASME 2013 Int. Design Engineering Technical Conf., pp. 1–6.
Bellicoseo, C. D., Jenelten, F., Gehring, C., & Hutter, M. (2018). Dynamic locomotion through online nonlinear motion optimization for quadruped robots. IEEE Robotics and Automation Letters, 3(3), 2261–2268.CrossRef
Buttner, T., Roennau, A., Heppner, G., Pfotzer, L., & Dillmann, R. (2016). Bio-inspired optimization of kinematic models for multi-legged walking robots. In: 6th IEEE RAS/EMBS Int. Conf. on Biomedical Robotics and Biomechatronics.
Cameron, J., Jain, A., Huntsberger, T., Sohl, G., & Mukherjee, R. (2009). Vehicle-terrain interaction modeling and validation for planetary rovers. NASA Jet Propulsion Laboratory Publications 10-15, https://​dartslab.​jpl.​nasa.​gov.
Cordes, F., Dettmann, A., & Kirchner, A. (2011). Locomotion modes for a hybrid wheeled-leg planetary rover. In Proc. of IEEE Int. Conf. on Robotics and Biomimetics, Vol. 1, pp. 654–659.
Craig, J.J. (2018). Introduction to Robotics, Mechanics and Control. London, UK: Pearson Publishers.
Cully, A., Clune, J., Tarapore, D., & Mouret, J.-B. (2015). Robots that can adapt like animals”. Nature, 521, 503–507.CrossRef
Dai, J.-M., Liu, T.-A., Lin, H.-Y. (2017). Road surface recognition for rout recommendation. In Proc. IEEE Intelligent Vehicles Symposium, pp. 121–126.
Dasgupta, B., & Mruthyunjaya, T. S. (2000). The Stewart latform manipulators: A review. Mechanism and Machine Theory, 35(1), 15–40.MathSciNetMATHCrossRef
Fujita, T., & Sasaki, T. (2017). Development of hexapod tracked mobile robot and its hybrid locomotion with object-carrying. In IEEE Int. Symp. on Robotics and Intelligent Sensors.
Gonzales de Santos, P., Estremera, J., & Garcia, E. (2003). The SILO4-A true walking robot for comparative study of walking machines techniques. IEEE Robotics and Automation Magazine, 10(4), 23–32.CrossRef
Gonzales, R., & Iagnemma, K. (2018). Slippage estimation and compensation for planetary exploration rovers. Journal of Field Robotics, 35, 564–577.CrossRef
Gonzales, A., & Zielinska, T. (2012). Postural equilibrium criteria concerning feet properties for bi-ped robots. Journal of Automation, Mobile Robotics & Intelligent Systems, 6(1), 22–27.
Grand, C., BenAmar, F., Plumet, F., & Bidaud, P. (2000). Stability control of a wheel-legged mini-rover. In Proc of Int. Conf. on Climbing and Walking Robots.
Iagnemma, K., Rzepniewski, A., Dubowsky, S.,Huntsberger, T., Pirjanian, P., & Schenker, P. (2000). Mobile robot kinematic reconfigurability for rough-terrain. In Proceedings of the SPIE Symposium on Sensor Fusion and Decentralized Control in Robotic Systems III.
Jehanno, J-M., Cully, A., Grand, C., and Mouret, J-B. (2014). Design of a wheel-legged hexapod robot for creative adaptation. World Scientific Publishing, 20(6).
Kelly, A. (2012). A vector algebra formulation of mobile robot velocity kinematics. In Proc. 2012 Int. Conf. Field and Service Robots.
Kelly, A., & Seegmiller, N. (2015). Recursive kinematic propagation for wheeled mobile robots. International Journal of Robotics Research, 34(3), 288–313.CrossRef
Khusainov, R., Shimchik, I., Afanasyev, I., & Magid, E. (2016). 3D Modelling of biped robot locomotion with walking primitives approach in Simulink environment. Lecture Notes in Electrical Engineering, 383, 287–304.CrossRef
Morell, A., Tarokh, M., & Acosta, L. (2013). Solving the forward kinematics problem in parallel robots using Support Vector Regression. Engineering Applications of Artificial Intelligence, 26(7), 1698–1706.CrossRef
Muir, P. F., & Neuman, C. P. (1991). Kinematic modeling of wheeled mobile robots. Journal of Robotic Systems, 44(2), 281–340.CrossRef
Nakamura, N. (1991). Advanced Robotics-Redundancy and Optimization, Chapter 4. Addison-Wesley.
Omer, R., & Fu, L. (2010).An automatic image recognition system for winter road surface condition classification. In IEEE Int. Conf. Intelligent Transportation Systems, pp. 1375–1379.
Ortiz, J. S., Aldás, J. V., & Andaluz, V. H. (2017). Mobile manipulators for cooperative transportation of objects in common. In Y. Gao, S. Fallah, Y. Jin, & C. Lekakou (Eds.), Towards autonomous robotic systems. TAROS 2017. Lecture Notes in Computer Science (Vol. 10454). Berlin: Springer.
Qian, Y., Almazan, E. J., & Elder, J. H. (2016). Evaluating features and classifiers for road weather condition analysis. In IEEE Int. Conf. Image Processing (ICIP), pp. 4403–4407.
Rajagopalan, R. (1997). A generic kinematic formulation for wheeled mobile robots. Journal of Robotic Systems, 14(2), 77–91.MATHCrossRef
Reid, W., Prez-Grau, T. J., Goktogan, A. L., & Sukkarieh, S. (2016). Actively articulated suspension for a wheel-on-Leg rover operating on a Martian analog surface. In IEEE Int. Conf. Robotics and Automation, pp. 5596-5602.
Ryu, S.-K., Kim, T., Bae, E., & Lee, S.-R. (2014). Algorithms and experiments fpor vision-based recognition of road surface. Journal of Emerging Trends in Computing and Information Science, 5(10), 739–745.
Shao, X.-S., Yang, Y.-P., & Wang, W. (2012). Ground substrate classification and adaptive walking through interaction dynamics for legged robots. Journal of Harbin Institute Technology, 19(3), 100–108.
Shin, D. H., & Park, K. H. (2001). Velocity kinematic modeling for wheeled mobile robots. In Proceedings 2001 IEEE International Conf. Robotics and Automation, Vol. 4, pp. 3516–3522.
Shkolnik, A., & Tedrake, R. (2007). Inverse kinematics for a point-foot quadruped robot with dynamic Redundancy Resolution. In IEEE International Conference on Robotics and Automation, Rome.
Siegwart, R., Lamon, P., Estier, T., Lauria, M., & Piguet, R. (2002). Innovative design for wheeled locomotion in rough terrain. Robotics and Autonomous Systems, 40, 151–162.CrossRef
Smith, J., Sharf, I., & Trentini, M. (2006). Paw: A hybrid wheeled-leg robot. In Proc. of IEEE Int. Conf. on Robotics and Automation.
Tarokh, M. (2007). Real time forward kinematics solutions for general Stewart platforms. In IEEE Int. Conf. Robot. Autom., pp. 901–906.
Tarokh, M., Ho, H., & Bouloubasis, A. (2013). Systematic kinematics analysis and balance control of high mobility rovers over rough terrain. Journal of Robotics and Autonomous Systems, 61, 13–24.CrossRef
Tarokh, M., & Lee, M. (2009). Systematic method for kinematics modeling of legged robots on uneven terrain. International Journal of Control and Automation, 2(2), 9–17.
Tarokh, M., & McDermott, G. (2005). Kinematics modeling and analysis of articulated rovers. IEEE Transactions on Robotics, 21(4), 439–454.CrossRef
Tarokh, M., & McDermott, G. (2007). A systematic approach to kinematics modeling of high mobility wheeled rovers. In Proc. IEEE Int. Conf. Robotics and Automation, pp 4905–4910.
Tarokh, M., McDermott, G., Hayati, S., & Hung, J. (1999). Kinematic modeling of a high mobility Mars rover. In Proc. IEEE Int. Conf. Robotics and Automation, pp. 992–998.
Tarokh, M., McDermott, G., & Mireles, L. (2006). Balance control of articulated rovers with active suspension. In Proc. 8th IFAC-IEEE Symposium on Robot Control, Vol. FrP-2.1-2, pp. 1–6.
Tsai, M.S., Shiau, T. N., & Tsai, Y. J. (2003). Direct kinematic analysis of a 3-PRS parallel mechanism. Mech. Mach. Theory, 38, 71–83.MATHCrossRef
Winkler, A. W., Bellicoso, C. D., Hutter, M., & Buchli, J. (2018). Gait and trajectory optimization for legged systems through phased-based end- effector parameterization. IEEE Robotics and Automation Letters, 3(3), 1560–1567.CrossRef
Winkler, A. W., Farshidian, F., Pardo, D., Neunert, M., & Buchli, J. (2017). Fast trajectory optimization for legged robots using vertex-based ZMP constraints. IEEE Robotics and Automation Letters, 2(4), 2201–2208.CrossRef
Wu, A. A., Huh, T. M., Mukherjee, R., & Cutsosky, M. (2016). Integrated ground reaction force sensing and classification for small legged robots. IEEE Robotics & Automation Letters, 1, 1125–1132.CrossRef
Ylonen, S., & Halme, A. (2002). Further development and testing of the hybrid locomotion of Workpartner robot. In Proc of Int. Conf. on Climbing on Walking Robots (CLAWAR).
Yuan, J., & Hirose, S. (2004). Research on leg-wheel hybrid stair-climbing robot, zero carrier. In IEEE Int. Conf. on Robotics and Biomimetics.
Zhang, S., Hu, Y., Xing, Y. (2016). Modified kinematic models for wheel-legged robot considering the rolling effect during leg-support phase. In Proc. 36th Chinese Control Conf.
Zhao, H, Wu, H., & Chen, L. (2017). Road surface recognition based on SVM optimization and image segmentation processing. Hindawi Journal of Advanced Transportation, Article ID 6458495, pp. 1–21.
Zhong, G., Deng, H., Xin, G., & Wang, G. (2016). Dynamic hybrid control of a hexapod walking robot: Experimental verification. IEEE Transactions on Industrial Electronics, 63(8), 5001–5011.
Metadaten
Titel
A unified kinematics modeling, optimization and control of universal robots: from serial and parallel manipulators to walking, rolling and hybrid robots
verfasst von
Mahmoud Tarokh
Publikationsdatum
14.07.2020
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 7/2020
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-020-09929-6

Weitere Artikel der Ausgabe 7/2020

Autonomous Robots 7/2020 Zur Ausgabe

OriginalPaper

Manipulation planning under changing external forces

Correction

Correction to: Orientation constraints for Wi-Fi SLAM using signal strength gradients

OriginalPaper

Planar max flow maps and determination of lanes with clearance

EditorialNotes

Guest Editorial: Robotics: Science and Systems 2018 (RSS 2018)

OriginalPaper

Iterative residual tuning for system identification and sim-to-real robot learning

OriginalPaper

Plug-and-play supervisory control using muscle and brain signals for real-time gesture and error detection

Neuer Inhalt

    Bildnachweise