NDLI: Kinematics and methods for combined quasi-static stance/reach planning in multi-limbed robots

Content Provider	IEEE Xplore Digital Library
Author	Shankar, K. Burdick, J.W.
Copyright Year	2014
Description	Author affiliation: California Inst. of Technol., Pasadena, CA, USA (Shankar, K.; Burdick, J.W.)
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 manipulator 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.
Starting Page	2963
Ending Page	2970
File Size	281636
Page Count	8
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6907286
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Jacobian matrices Robot kinematics Joints Planning Legged locomotion Manipulators
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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