This paper describes a new method for calculating the acceleration of a robot in response to given actuator forces. The method is applicable to open-loop kinematic chains containing revolute and prismatic joints. The algorithm is based on recursive formulas involving quantities called articulated-body inertias, which represent the inertia properties of collections of rigid bodies connected together by joints allowing constrained relative motion between the bodies. A new, matrix-based notation is introduced to represent articulated-body inertias and other spatial quantities. This notation is used to develop the algorithm, and results in a compact representation of the equations. The new algorithm has a computational requirement that varies linearly with the number of joints, and its efficiency is compared with other published algorithms.
Research into legged robotics is primarily motivated by the prospects of building machines that are able to navigate in challenging and complex environments that are predominantly non-flat. In this context, control of contact forces is fundamental to ensure stable contacts and equilibrium of the robot. In this paper we propose a planning/control framework for quasi-static walking of quadrupedal robots, implemented for a demanding application in which regulation of ground reaction forces is crucial. Experimental results demonstrate that our 75-kg quadruped robot is able to walk inside two high-slope (50 • ) V-shaped walls; an achievement that to the authors' best knowledge has never been presented before. The robot distributes its weight among the stance legs so as to optimize user-defined criteria. We compute joint torques that result in no foot slippage, fulfillment of the unilateral constraints of the contact forces and minimization of the actuators effort. The presented study is an experimental validation of the effectiveness and robustness of QP-based force distributions methods for quasi-static locomotion on challenging terrain.
This paper reviews some of the accomplishments in the field of robot dynamics research, from the development of the recursive Newton-Euler algorithm to the present day. Equations and algorithms are given for the most important dynamics computations, expressed in a common notation to facilitate their presentation and comparison.
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