A unified kinematics modeling, optimization and control of universal robots: from serial and parallel manipulators to walking, rolling and hybrid robots

Tarokh, Mahmoud

doi:10.1007/s10514-020-09929-6

Cited by 5 publications

(1 citation statement)

References 36 publications

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“…Zhornyak [24] analyzes the gait characteristics of a quadruped rover and optimizes these characteristics. Tarokh [25] establishes a unified kinematics modeling algorithm with optimization and control for universal robots. Lee et al [26] propose a trajectory generation method that enables the consideration of lots of robotic constraints.…”

Section: Introductionmentioning

confidence: 99%

Kinematic modeling and hybrid motion planning for wheeled-legged rovers to traverse challenging terrains

Zhu,

He,

Sun

2023

Robotica

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This paper presents a kinematics modeling and hybrid motion planning framework for wheeled-legged rovers. It is a unified solution for wheeled-legged rovers to traverse multiple challenging terrains using hybrid locomotion. A kinematic model is first established to describe the rover’s motions. Then, a hybrid motion planning framework is proposed to determine the rover’s gait patterns and parameterize the legs’ and the body’s trajectories. Furthermore, an optimization algorithm based on B-spline is utilized to minimize the motors’ energy dissipation and generate smooth trajectories. The wheeled and legged hybridization allows the rover for faster locomotion while maintaining high stability. Besides, it also improves the rover’s ability to overcome obstacles. Prototype experiments are carried out in more complex environments to verify the rover’s flexibility and maneuverability to traverse irregular terrains. The proposed algorithm reduces the swing amplitude by 83.3% compared to purely legged locomotion.

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Section: Introductionmentioning

confidence: 99%