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Dynamic rolling locomotion and control of modular robots

IEEE TRANSACTIONS ON robotics AND AUTOMATION 2002年第1期18卷 32-41页

作者： Lee, WH Sanderson, AC Rensselaer Polytech Inst Ctr Automat Technol Troy NY 12180 USA Rensselaer Polytech Inst Dept Elect Comp & Syst Engn Troy NY 12180 USA

Highly redundant modular robots may undergo large shape changes which significantly affect the geometry and dynamics of the robot. In these motions, the shape change may induce a tipping or rolling behavior of the robot. This paper describes the dynamic modeling, locomotion planning, control and simulation of such rolling motions for the Tetrobot modular robots. The motion is described by the path profiles of controlled nodes, the tipping criteria and dynamic tipping motion and an impact-reaction model of contact with the ground. These phases of motion are described using Newton-Euler dynamic equations and the principle of conservation of angular momentum. In this paper, a two-phase planning and switching control sequence is introduced to achieve stable and reliable motion of a Tetrobot modular robot. Simulation results illustrate the tipping behavior of a tetrahedron, the dynamic contact and rolling of an icosahedral Tetrobot and dynamic control of the rolling Tetrobot. The resulting models are useful to analyze and control both intentional rolling as a new mode of mobility as well as the avoidance of unintentional tipping and rolling during task execution.

关键词： distributed control dynamic rolling locomotion planning modular robotics reconfigurable parallel robotics tipping

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Dynamic analysis and distributed control of the tetrobot modular reconfigurable robotic system

引用

AUTONOMOUS ROBOTS 2001年第1期10卷 67-82页

作者： Lee, WH Sanderson, AC Rensselaer Polytech Inst Dept Mech Engn Aeronaut Engn & Mech Troy NY 12180 USA Rensselaer Polytech Inst Dept Elect Comp & Syst Engn Troy NY 12180 USA

reconfigurable robotic systems can be adapted to different tasks or environments by reorganizing their mechanical configurations. Such systems have many redundant degrees of freedom in order to meet the combined demands of strength, rigidity, workspace kinematics, reconfigurability, and fault tolerance. In order to implement these new generations of robotic system, new approaches must be considered for design, analysis, and control. This paper presents an efficient distributed computational scheme which computes the kinematics, dynamics, redundancy resolution, and control inputs for real-time application to the control of the Tetrobot modular reconfigurable robots. The entire system is decomposed into subsystems based on a modular approach and Newton's equations of motion are derived and implemented using a recursive propagation algorithm. Two different dynamic resolution of redundancy schemes, the centralized Jacobian method and the distributed virtual force method, are proposed to optimize the actuating forces. Finally, distributed dynamic control algorithms provide an efficient modular implementation of the control architecture for a large family of configurations.

关键词： modular robotics reconfigurable parallel robotics dynamics redundancy resolution distributed control

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