Robotics: Science and Systems II 2006
DOI: 10.15607/rss.2006.ii.016
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Development of Methodology for Design and Analysis of Physically Cooperating Robot and Applications to Other Robotic Systems

Abstract: 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 con… Show more

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