Authors:
Mahmoud Tarokh
and
Federico Llenar
Affiliation:
Department of computer Science, San Diego State University, San Diego, CA 92182-7720 and U.S.A.
Keyword(s):
Hybrid Robots, Rolling and Walking Kinematics.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Modeling, Simulation and Architectures
;
Robotics and Automation
Abstract:
The paper develops a unified kinematics modelling, optimization and control for hybrid robots. These robots combine two or more modes of operations, such as a combination of walking and rolling, or rolling and manipulation. 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. Using the developed modelling, actuation and control equations are derived that ensure the robot to track a desired path closely while maintaining balanced operations and tip-over avoidance. Various simulation results are provided for a hybrid rolling-walking robot traversing uneven terrain, which demonstrate the capabilities and effectiveness of the developed methodologies.