Basic manipulation considerations for the articulated body mobile robot

Fukushima, Edwardo F.; Hirose, Shigeo; Hayashi, Terumitsu

doi:10.1109/iros.1998.724650

Cited by 14 publications

(7 citation statements)

References 8 publications

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“…Fukushima et al (1998), Hirose and Morishima (1990) have developed a team of mobile robots that connect in a chain and move in a snake-like motion to inspect hazardous areas of a nuclear plant. A team of small robots called 'Millibots' (Brown et al 2002), each around 6 cm long, is another example of physically cooperating robots.…”

Section: Related Workmentioning

confidence: 99%

“…Teams proposed in the earlier work including SwarmBots, Millibots etc. are some of the examples of this research (Fukushima et al 1998;Brown et al 2002;Mondada et al 2003;Deshpande and Luntz 2007b). However, additional research is required to develop a team of robots that can autonomously cooperate to cover and search on an unknown terrain.…”

Section: Introductionmentioning

confidence: 99%

“…Current research is focused either on robot hardware and sensor system design, for example (Brown et al 2002;Mondada et al 2003), or on designing physical cooperation to overcome specific type of obstacles, for example, gap crossing in Fukushima et al (1998). To be able to generalize these ideas of physical cooperation there is a need for a systematic approach to design, analysis and testing of the robots and ways in which cooperation is carried out.…”

Section: Introductionmentioning

confidence: 99%

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A methodology for design and analysis of cooperative behaviors with mobile robots

Deshpande

Luntz

2009

Auton Robot

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New methodologies are needed for modeling of physically cooperating mobile robots to be able to systematically design and analyze such systems. In this context, we present a method called the 'P-robot Method' under which we introduce entities called the p-robots at the environmental contact points and treat the linked mobile robots as a multiple degree-of-freedom object, comprising an articulated open kinematic chain, which is manipulated by the p-robots. The method is suitable to address three critical aspects of physical cooperation: a) analysis of environmental contacts, b) utilization of redundancy, and c) exploitation of system dynamics. Dynamics of the open chain are computed independent of the constraints, thus allowing the same set of equations to be used as the constraint conditions change, and simplifying the addition of multiple robots to the chain. The decoupling achieved through constraining the p-robots facilitates the analysis of kinematic as well as force constraints. We introduce the idea of a 'tipping cone', similar to a standard friction cone, to test whether forces on the robots cause undesired tipping. We have employed the P-robot Method for the static as well as dynamic analysis for a cooperative behavior involving two robots. The method is generalizable to analyze cooperative behaviors with any number of robots. We demonstrate that redundant actuation achieved by an adding a third robot to cooperation can help in satisfying the contact constraints. The P-robot Method can be useful to analyze other interesting multi-body robotic systems as well.

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Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A methodology for design and analysis of cooperative behaviors with mobile robots

Deshpande

Luntz

2009

Auton Robot

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“…Hirose et.al. [10], [13] have developed a chain of mobile robots inspired by snake motion to inspect hazardous areas of a nuclear plant. Team of small robots (each around 6 cm long), called Millibots [5] is another example of physically cooperating robots.…”

Section: A Physical Cooperation For Mobility Improvementmentioning

confidence: 99%

Development of Methodology for Design and Analysis of Physically Cooperating Robot and Applications to Other Robotic Systems

Deshpande¹,

Luntz²

2006

Robotics: Science and Systems II

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Abstract-There is a need to develop a methodology to model physically cooperating mobile robots so as to systematically design and analyze such systems. Our approach is to treat the linked mobile robots as a multiple degree-of-freedom object, comprising an articulated open kinematic chain, which is being manipulated by pseudo robots (p-robots) at the ground interaction points. Dynamics of the open chain are computed independently of the constraints, thus allowing the same set of equations to be used as the constraint conditions change, and simplifying the addition of multiple robots to the chain. The decoupling achieved through constraining the p-robots facilitates the analysis of kinematic as well as force constraints, not possible with direct analysis. We introduce the idea of a 'tipping cone', similar to a standard friction cone, to test whether forces on the robots cause undesired tipping. We have carried out static as well as dynamic analysis for a 2-robot cooperation case. Also, we have demonstrated that introduction of redundant actuation, by an additional third robot, can help in improving the friction requirements. We also present our preliminary ideas for employing this newly designed framework to analyze other interesting multi-body robotic systems.

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“…He realized the serpentine undulation form of snake locomotion on physical model of robot by applying sinusoidal trajectories to the differential angles between adjacent links. Hirose has constructed several snake-like robots since that time including descendants of the ACM as well as the Koryu snake robots (Hirose and Morishima 1990;Endo et al 1999;Fukushima et al 1998). Each of these robots utilizes a serial-link structure and uses wheels to create a no side-slip condition for each link.…”

mentioning

confidence: 99%

Ground adaptive and optimized locomotion of snake robot moving with a novel gait

Hasanzadeh

Tootoonchi

2010

Auton Robot

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In this paper, we present a novel gait, forward head serpentine (FHS), for a two dimensional snake robot. The advantage of this new gait is that the head link remains in the forward direction during motion. This feature significantly improves snake robot potential applications. Genetic Algorithm (GA) is used to find FHS gait parameters. Relationship between FHS gait parameters and friction coefficients of the ground are developed. Next, robot speed is considered in the optimization. A fitness function covering robot speed and head link angular changes is defined. A general sinusoidal wave form is applied for each joint. GA is used to find gait parameters resulting in maximum speed while head link angular changes remain in an acceptable range. Optimal gait parameters are also calculated for different friction coefficients and relationships between them are developed. Experiments are also performed using a 5-link snake robot. It is shown that experimental and theoretical results closely agree.

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Basic manipulation considerations for the articulated body mobile robot

Cited by 14 publications

References 8 publications

A methodology for design and analysis of cooperative behaviors with mobile robots

A methodology for design and analysis of cooperative behaviors with mobile robots

Development of Methodology for Design and Analysis of Physically Cooperating Robot and Applications to Other Robotic Systems

Ground adaptive and optimized locomotion of snake robot moving with a novel gait

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