A unified kinematics modeling, optimization and control of universal robots: from serial and parallel manipulators to wa
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A unified kinematics modeling, optimization and control of universal robots: from serial and parallel manipulators to walking, rolling and hybrid robots Mahmoud Tarokh1 Received: 2 September 2019 / Accepted: 20 June 2020 © Springer Science+Business Media, LLC, part of Springer Nature 2020
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. Keywords Unified kinematics · Hybrid robots · Optimization and control
1 Introduction Robots are becoming more sophisticated in mechanisms, control and intelligence to enable execution of complex tasks autonomously in challenging environments. In order to perform such tasks, various hybrid robots capable of multiple modes of operations such as combinations of rolling and walking, and rolling and manipulation as in mobile manipulators, have been proposed (e.g. Ortiz et al. 2017). In particular, hybrid locomotion of walking and rolling has received special attention. This is due to the fact that walking robots have superior performance for traversing uneven terrain. On the other hand rolling robots are better suited for relatively flat terrains as they can move faster and are more stable than walking robots in such terrain (NASA 2019). There are various methods to combine propulsion. Most mechanisms mount wheels at the end of legs that can be locked to act as feet. Robots that have been developed based on this mechanical architecture are usually four legged * Mahmoud Tarokh [email protected] 1
Department of Computer Science, San Diego State University, San Diego, CA 92182‑7720, USA
wheel-foot arrangements. These include Hylos (Grand et al. 2000), Paw (Smith et al. 2006), Primres-Sherpa (Cordes et al. 2011) and Workpartner (Ylonen and Halme 2002). The use of more than four legs adds to the complexity but also offers more versatility and extends application and behavioural diversity, such as stair climbing (Yuan and Hirose 2004), high load carrying capability (Fujita and Sasaki 2017), learning new locomotion when a leg is damaged (Cully et al. 2015; Jehanno et al. 2014). Other high mobility robots, though not strictly legged wheel-foot but noteworthy, are CHIMP developed by CMU (2013) which is a humanoid-type robot with tracked rubbe
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