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Kinematics for Combined Quasi-Static Force and Motion Control in Multi-Limbed Robots

Shankar, Krishna and Burdick, Joel W. (2015) Kinematics for Combined Quasi-Static Force and Motion Control in Multi-Limbed Robots. In: 2015 International Conference on Robotics and Automation (ICRA 2015). IEEE , Piscataway, NJ, pp. 4554-4561. ISBN 978-1-4799-6923-4.

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This paper considers how a multi-limbed robot can carry out manipulation tasks involving simultaneous and compatible end-effector velocity and force goals, while also maintaining quasi-static stance stability. The formulation marries a local optimization process with an assumption of a compliant model of the environment. For purposes of illustration, we first develop the formulation for a single fixed based manipulator arm. Some of the basic kinematic variables we previously introduced for multi-limbed robot mechanism analysis in [1] are extended to accommodate this new formulation. Using these extensions, we provide a novel definition for static equilibrium of multi-limbed robot with actuator limits, and provide general conditions that guarantee the ability to apply arbitrary end-effector forces. Using these extended definitions, we present the local optimization problem and its solution for combined manipulation and stance. We also develop, using the theory of strong alternatives, a new definition and a computable test for quasi-static stance feasibility in the presence of manipulation forces. Simulations illustrate the concepts and method.

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Additional Information:© 2015 IEEE.
Record Number:CaltechAUTHORS:20150520-094837552
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Official Citation:Shankar, K.; Burdick, J.W., "Kinematics for combined quasi-static force and motion control in multi-limbed robots," Robotics and Automation (ICRA), 2015 IEEE International Conference on , vol., no., pp.4554,4561, 26-30 May 2015
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:57697
Deposited By: Krishna Shankar
Deposited On:20 May 2015 18:45
Last Modified:03 Oct 2019 08:27

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