Coordinated Motion and Force Control of Multi-Limbed Robotic Systems

Authors:
Steven Dubowsky;Craig Sunada;Constantinos Mavroidis
Affiliations:
Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA, 02139. dubowsky@mit.edu;Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA, 02139;Department of Mechanical and Aerospace Engineering, Rutgers University, The State University of New Jersey, 98 Brett Road, Piscataway, NJ, 08854. mavro@jove.rutgers.edu
Venue:
Autonomous Robots
Year:
1999

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Abstract

This analytic and experimental study proposes a control algorithm for coordinated position and force control for autonomous multi-limbed mobile robotic systems. The technique is called Coordinated Jacobian Transpose Control (CJTC). Such position/force control algorithms will be required if future robotic systems are to operate effectively in unstructured environments. Generalized Control Variables (GCVs), express in a consistent and coordinated manner the desired behavior of the forces exerted by the multi-limbed robot on the environment and a system‘s motions. The effectiveness of this algorithm is demonstrated in simulation and laboratory experiments on a climbing system.