Kinematics Modelling, Optimization and Control of Hybrid Robots

Mahmoud Tarokh, Federico Llenar

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.

Download


Paper Citation


in Harvard Style

Tarokh M. and Llenar F. (2019). Kinematics Modelling, Optimization and Control of Hybrid Robots.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 114-123. DOI: 10.5220/0007915801140123


in Bibtex Style

@conference{icinco19,
author={Mahmoud Tarokh and Federico Llenar},
title={Kinematics Modelling, Optimization and Control of Hybrid Robots},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={114-123},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007915801140123},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Kinematics Modelling, Optimization and Control of Hybrid Robots
SN - 978-989-758-380-3
AU - Tarokh M.
AU - Llenar F.
PY - 2019
SP - 114
EP - 123
DO - 10.5220/0007915801140123