ZMP stabilization of rapid mobile manipulator

Choi, Dongil; Oh, Jun-Ho

doi:10.1109/icra.2012.6225369

Cited by 9 publications

(13 citation statements)

References 17 publications

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“…when solving (4). It is noted that E is presented in (19) as a function of t to emphasize that it is time-varying due to the vehicle's ever-changing orientation in the context of trajectory planning.…”

Section: Defining P = Pf0mentioning

confidence: 99%

“…It is worth mentioning that compared to continuously generating stability-compensating motions by using configuration redundancy, as in [19], or formulating terrain properties into an artificial potential field to avoid slopes, as in [20], [21], employing the stability measure as a constraint allows the RV to operate without having to constantly reconfigure or unnecessarily avoid steep yet safe slopes unless stability is compromised. This allows the RV to travel through any terrain in any necessary configuration to complete tasks, as long as it does not cause rollover.…”

Section: Introductionmentioning

confidence: 99%

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Chance-Constrained Planning for Dynamically Stable Motion of Reconfigurable Vehicles

Song¹,

Sharf²

2022

Preprint

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<p>In this paper, a computationally efficient chance-constrained rollover-free motion planning method is presented. Specifically, the method is developed to plan motions for reconfigurable vehicles with the knowledge of a 3-D terrain model that has limited accuracy. The overall motion planning problem is formulated as a nonlinear optimal control problem (NOCP) that employs a constraint in the form of a bound on the probability of rollover under terrain-induced vehicle orientation uncertainty. To increase the computational efficiency of the NOCP, a geometric interpretation of the chance constraint is derived based on the characteristics of SO(3), the 3-D rotation group. Monte Carlo simulations are provided to demonstrate the usefulness of the geometric interpretation through comparisons with other methods. Experimental data gathered from driving a mobile robot through real forests are also used to validate the proposed model. Finally, path and trajectory generation results obtained with the proposed planning method for a feller-buncher machine traversing through uncertain 3-D terrain are presented to showcase the method's overall performance and efficiency.</p>

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Section: Defining P = Pf0mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Chance-Constrained Planning for Dynamically Stable Motion of Reconfigurable Vehicles

Song¹,

Sharf²

2022

Preprint

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“…The manipulator was controlled by the Cartesian computed torque control. The Cartesian computed torque method gains were determined experimentally to have under-damped characteristics for suspension-like motion 11,19,22 as follows: K p = 200, K v = 20 on the X axis; K p = 30, K v = 8 on the Y axis; and K p = 30, K v = 7 on the Z axis. The desired forward velocity was applied at 1 s as 3.6 m/s (about 13 km/hr) and the desired rotational velocity was fixed as zero.…”

Section: 1mentioning

confidence: 99%

“…5,6 Some research efforts have focused on high speed (over 12 km/hr) and acceleration (over 0.5 g, 1 g = 9.8m/s 2 ) performance; however, it has been difficult to implement a roll-over algorithm in a real-time system due to the complexity of the algorithm or the lack of an actual rapid mobile manipulator. 3,4,7,8 In our previous research, [9][10][11] we proposed the ZMP stabilization method of a rapid four-wheel mobile platform for high acceleration performance using an inverted pendulum model. We achieved a maximum acceleration of 0.5 g and maximum velocity of 12 km/hr despite the high CoM.…”

Section: Introductionmentioning

confidence: 99%

Motion planning for a rapid mobile manipulator using model-based ZMP stabilization

Choi

2014

Robotica

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SUMMARYThis paper introduces a novel approach to motion planning for a rapid mobile manipulator using inverted pendulum models. Our aim was to realize an actual rapid mobile manipulator with high acceleration and speed performance for an object's delivery. In our research, we developed an actual rapid mobile manipulator called KDMR-1. We proposed simple motion planning methods using a single inverted pendulum model (SIPM) and a double inverted pendulum model (DIPM), which are easily adaptable to a real-time system with only a small computational burden. The SIPM was useful for basic movement but did not provide object carrying capability. For that, a DIPM was proposed. In both models, we designed linear quadratic optimal controllers to stabilize the Zero Moment Point (ZMP). Two kinds of ZMP stabilization strategies were proposed, fixed ZMP and relaxed ZMP. Using these strategies, we realized optimal ZMP stabilizations for a real-time rapid mobile manipulator. For decoupled forward and rotational linear DIPM, we designed a centrifugal acceleration compensation model in the manner of feedback linearization. The experimental results showed high acceleration and speed performances during rapid object delivery.

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“…There have been several studies that focused on increasing the speed, stability of robots such as rovers [21] and mobile manipulators [22], [23]. In addition, An et al investigated ways of increasing the speed of WLMRs on the basis the ZMP [13].…”

Section: Introductionmentioning

confidence: 99%

Real-Time Motion Generation and Control Systems for High Wheel-Legged Robot Mobility

Suzumura

Fujimoto

2014

IEEE Trans. Ind. Electron.

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A wheel-legged mobile robot (WLMR) has both leg and wheel structures. WLMRs have adaptability advantages because they can change locomotion methods depending on the terrain. However, the location of a WLMR s center of gravity (CoG) is very high; Thus, almost all existing WLMRs move statically. In this study, whole body motion generation and various control systems are studied to facilitate higher WLMR mobility. To this end, a zero moment point (ZMP) is introduced as a stability index. In addition, WLMRs are modeled as single point mass linear inverted pendulums. Subsequently, online CoG pattern generation methods are proposed; one is a preview control approach and a second is an approach that realizes the desired ZMP pattern using a zero-phase low-pass filter. It is then possible to generate the desired CoG patterns more easily and faster than with a preview control approach. The CoG patterns based on the single point model are constructed via the resolved momentum control approach. Finally, the effectiveness of the whole body motion pattern generated by the proposed methods is validated by simulations and experiments. Index Terms-Wheel-legged mobile robot, hybrid mobile robot, zero moment point, resolved momentum control, center of gravity pattern generation, zero-phase low pass filter Manuscript

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ZMP stabilization of rapid mobile manipulator

Cited by 9 publications

References 17 publications

Chance-Constrained Planning for Dynamically Stable Motion of Reconfigurable Vehicles

Chance-Constrained Planning for Dynamically Stable Motion of Reconfigurable Vehicles

Motion planning for a rapid mobile manipulator using model-based ZMP stabilization

Real-Time Motion Generation and Control Systems for High Wheel-Legged Robot Mobility

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