NDLI: Bang-Bang Trajectory Plans With Dynamic Balance Constraints: Fast Rotational Reconfigurations for RoboSimian

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Bang-Bang Trajectory Plans With Dynamic Balance Constraints: Fast Rotational Reconfigurations for RoboSimian

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Bang-Bang Trajectory Plans With Dynamic Balance Constraints: Fast Rotational Reconfigurations for RoboSimian

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Byl, Katie Tobler, Feodor
Copyright Year	2014
Abstract	This paper investigates the problem of rapidly transitioning the pose of a limbed robot while remaining balanced. In particular, we consider motions where rotational accelerations may significantly affect the center of pressure location within a limited base of support. We consider solutions for high-impedance robots with stiff, high-torque actuators that essentially provide accurate, position-control outputs at the joints. We present and compare three methods for generating joint trajectories to achieve fast yet feasible dynamic motions for such systems while maintaining a safety margin for the center of pressure location, toward robust balance. We focus on development of theory and intuition for each method and quantify performance in terms of achievable speed of transition and required joint velocity limits.
Sponsorship	Dynamic Systems and Control Division
File Format	PDF
ISBN	9780791846186
DOI	10.1115/DSCC2014-6202
Volume Number	Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems
Conference Proceedings	ASME 2014 Dynamic Systems and Control Conference
Language	English
Publisher Date	2014-10-22
Publisher Place	San Antonio, Texas, USA
Access Restriction	Subscribed
Subject Keyword	Actuators Torque Position control Trajectories (physics) Safety Pressure Robots
Content Type	Text
Resource Type	Article

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