Optimal force distribution for tethered climbing robots in unstructured environments

ASME 2002 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2002

Volumn 5, Issue , 2002, Pages 1135-1144

  Hong, Dennis W ^a   Cipra, Raymond J ^a  

^a PURDUE UNIVERSITY   (United States)

Author keywords

Climbing robots; Force distribution; Mobile robots; Tethered robots; Unstructured environments

Indexed keywords

ANALYTICAL METHOD; CLIMBING ROBOTS; CLOSED KINEMATIC CHAINS; COMPLEX INTERACTION; COMPUTATIONALLY EFFICIENT; CONTACT FORCE DISTRIBUTION; CONTACT FORCES; FORCE DISTRIBUTIONS; MOBILE ROBOTIC SYSTEMS; MULTI-CONTACT; MULTI-LIMBED ROBOTS; OPTIMAL FORCE; OPTIMAL SOLUTIONS; OPTIMIZATION CRITERIA; SOLUTION SPACE; STATIC EQUILIBRIUM; TETHERED ROBOTS; UNSTRUCTURED ENVIRONMENTS; VISUAL MAP;

FRICTION; KINEMATICS; MOBILE ROBOTS; OPTIMAL SYSTEMS; PRESSURE DISTRIBUTION; ROBOTICS; TECHNICAL PRESENTATIONS;

OPTIMIZATION; ROBOTS;

EID: 0036980015     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (29)

1. Bares, John E., and Wettergreen, David S., "Dante II: technical description, results, and lessons learned", International Journal of Robotics Research, Vol. 18, No. 7, 1999, pp. 621-649.
2. Hirose S., Yoneda K., and Tsukagoshi, H., "TITAN VII: Quadruped walking and manipulating robot on a steep slope", Proceedings of International Conference on Robotics and Automation, Albuquerque, New Mexico, 1997, pp. 494-500.
3. P. S. Schenker, P. Pirjanian, B. Balaram, K. S. Ali, A. Trebi-Ollennu, T. L. Huntsberger, H. Aghazarian, B. A. Kennedy, E. T. Baumgartner, K. Iagnemma, A. Rzepniewski, S. Dubowsky, P. C. Leger, D. Apostolopoulos, and G. T. McKee, "Reconfigurable robots for all terrain exploration", Proc. SPIE Sensor Fusion and Decentralized Control in Robotic Systems III, Vol. 4196, Boston, MA, Nov. 5-8, 2000, pp. 15.
4. Krishna, Murali, Bares, John, and Mutschler, Ed, "Tethering system design for Dante II", IEEE International Conference on Robotics and Automation, Vol. 2, 1997, IEEE, Piscataway, NJ, USA, pp. 1100-1105.
5. Chen, Wenjie., Low, K H., and Yeo, S H., "Adaptive gait planning for multi-legged robots with an adjustment of center-of-gravity", Robotica, Vol. 17, No. 4, 1999, pp. 391-403.
6. Roberts, R. G., Graham, T., and Trumpower, J. M., "On the inverse kinematics and statics of cable-suspended robots", Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, Vol. 5, 1997, pp. 4291-4296.
7. Roberts, Rodney G., Graham, Todd, and Lippitt, Thomas, "On the inverse kinematics, statics, and fault tolerance of cable-suspended robots", Journal of Robotic Systems, Vol. 15 n 10 Oct 1998, pp. 581-597.
8. Venkataraman, S.T., and Iberall, T., Eds., "Dextrous robot hands", New York: Springer-Verlag, 1990.
9. Matthew T. Mason, and J. Kenneth Salisbury, Jr., "Robot hands and the mechanics of manipulation", Cambridge, Mass, MIT Press, c1985.
10. Tao, Jian M., and Luh, J Y S., "Coordination of two redundant robots", IEEE International Conference on Robotics and Automation, 1989 v I (of 3)., Piscataway, NJ, USA, pp. 425-430.
11. Salisbury, J. K., and Craig, J. J., "Articulated hands: Force control and kinematic issues", International Journal of Robotics Research, Vol. 1, No. 1, 1982, pp. 4-17.
12. Kumar, Vijay R., and Waldron, Kenneth J., "Force distribution in closed kinematic chains", IEEE Journal of Robotics & Automation, Vol. 4, No. 6, Dec 1988, pp. 657-664.
13. Zuo, Bing-Ran, and Qian, Wen-Han, "On the equivalence of internal and interaction forces in multifingered grasping", IEEE Transactions on Robotics & Automation, Vol. 15 n 5 1999, pp. 934-941.
14. Klein and Chung "Force interaction and Allocation for the legs of a walking vehicle", IEEE Journal of Robotics and Automation, No. 6, 1987, pp. 456-555
15. Klein, C., Olson, K., Pugh, D., "Use of force and attitude sensors for locomotion of a legged vehicle over irregular terrain" International Journal of Robotics Research, vol. 2, No, 2, pp. 3-7, Summer 1983
16. Kerr, J. R., and Roth, B., "Analysis of multifingered hands", The International Journal of Robotics research, Vol. 4, No. 4, Winter 1986, pp. 3-17.
17. Klein, Charles A., and Kittivatcharapong, Sakon, "Optimal force distribution for the legs of a walking machine with friction cone constraints", IEEE Transactions on Robotics & Automatio, Vol. 6, No. 1, Feb 1990, pp. 73-85.
18. Cheng and Orin "Efficient algorithm for optimal force distribution - The compact dual LP method"
19. Nahon, M., and Angeles, J., "Real-time force optimization in parallel kinematic chains under inequality constraints", IEEE International Conference on Robotics and Automation, Vol. 8, No. 4, 1992, pp. 439-450.
20. Chen, Xuedong, Watanabe, Keigo, Kiguchi, Kazuo, and Izumi, Kiyotaka, "Optimal Force Distribution for the Legs of a Quadruped Robot", Machine Intelligence & Robotic Control, Vol. 1, No. 2, 1999, pp. 87-94.
21. Cheng, Fan-Tien. Chen, Tsing-Hua. Sun, York-Yih,. "Resolving manipulator redundancy under inequality constraints", IEEE Transactions on Robotics & Automation, Vol. 10, No. 1, Feb 1994. pp. 65-71.
22. Zhou, Debao, Low, K. H., and Zielinska, Teresa, "An Efficient foot-force distribution algorithm for quadruped walking robots", Robotica, Vol. 18, No. 4, Jul 2000, pp. 403-413.
23. Kumar, Vijay, Waldron, Kenneth J., "Suboptimal algorithms for force distribution in multifingered grippers", IEEE Transactions on Robotics & Automation, v 5 n 4 Aug 1989, pp. 491-498.
24. Nagy, P. V., Whittaker, W. L., and Desa, S., "A walking prescription for statically-stable walkers based on walker/terrain interaction", IEEE International Conference on Robotics and Automation, Vol 1, 1992, pp. 149-156.
25. Gao, X C., and Song, S M., "Stiffness matrix method for foot force distribution of walking vehicles", IEEE International Conference on Robotics and Automation, Los Alamitos, CA, 1990, pp. 1470-1475.
26. Gao, X., Song, S., Zheng, C. Q., "Generalized stiffness matrix method for force distribution of robotic systems with indeterminacy", Journal of Mechanical Design, Vol. 115, n 3 Sep 1993, pp. 585-591.
27. Gardner, J. F., Srinivasan, K., and Waldron, K J., "A Solution for the force distribution problem in redundantly actuated closed kinematic chains", Journal of Dynamic Systems Measurement & Control-Transactions of the ASME, Vol. 112, No. 3, Sep 1990, pp. 523-526.
28. Liu, Hongyi, and Wen, Bangchun, "Force distribution for the legs of a quadruped walking vehicle", Journal of Robotic Systems, Vol. 14. No. 1, Jan 1997, pp. 1-8.
29. Yoshikawa, Tsuneo, "Virtual truss model for characterization of internal forces for multiple finger grasps", IEEE Transactions on Robotics & Automation, Vol. 15 n 5 1999, pp. 941-947.