loading
Papers

Research.Publish.Connect.

Paper

Authors: Mahmoud Tarokh and Federico Llenar

Affiliation: Department of computer Science, San Diego State University, San Diego, CA 92182-7720 and U.S.A.

ISBN: 978-989-758-380-3

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.

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.83.32.171

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
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

@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},
}

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

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.