A simplified Cartesian computed torque (SCCT) control scheme and its application to an experimental climbing robot named LIBRA is presented. SCCT control is developed exploiting some of the characteristics of highly geared mobile robots. The effectiveness of the method is shown by simulation and experimental results using the LIBRA robot. SCCT control is shown to have improved performance, over traditional Jacobian transpose control, for the LIBRA multilimbed robot. [S0022-0434(00)03501-2]
Issue Section:
Technical Papers
1.
Meieran
, H. B.
, and Gelhaus
, F. E.
, 1986
, “Mobile Robots Designed for Hazardous Environments
,” Robots and Engineering
, 8
, pp. 10
–16
.2.
Wilcox, B., et al., 1992, “Robotic Vehicles for Planetary Exploration,” IEEE International Conference on Robotics and Automation, pp. 175–80.
3.
Woodbury, R., 1990, “Exploring the Ocean’s Frontiers Robots and Miniature Submarines Take Oil Drillers to New Depths.” Time, 17.
4.
Schneider
, S. A.
, and Cannon
, R. H.
, Jr., 1992
, “Object Manipulation Control for Cooperative Manipulation: Theory and Experimental Results
,” IEEE Trans. Rob. Autom.
, 8
, No. 3
, pp. 383
–394
.5.
Luk, B., Collie, A., and Bingsley, J., 1991, “Robug II: An Intelligent Wall Climbing Robot,” Proceedings of the IEEE International Conference on Robotics and Automation, Sacramento, CA, Vol. 3, pp. 2342–2347.
6.
Gorinevsky
, D.
, and Schneider
, A.
, 1990
, “Force Control in Locomotion of Legged Vehicles over Rigid and Soft Surfaces
,” Int. J. Rob. Res.
, 9
, No. 2
, pp. 4
–23
.7.
Yoneda, K., Iiyama, H., Hirose, and Shigeo, S., 1994, “Sky Hook Suspension Control of a Quadruped Walking Vehicle,” Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, CA, Vol. 2, pp. 999–1004.
8.
Fujimoto, Y. and Kawamura, A., 1996, “Proposal of Biped Walking Control Based on Robust Hybrid Position/Force Control,” Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, MN, Vol. 4, pp. 2724–2730.
9.
Celaya, E. and Porta, J., 1996, “Control of a Six-Legged Robot Walking on Abrupt Terrain,” Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, MN, Vol. 4, pp. 2731–2736.
10.
Sunada, C., Argaez, D., Dubowsky, S., and Mavroidis, C., 1994, “A Coordinated Jacobian Transpose Control for Mobile Multilimbed Robotic Systems,” Proceedings of the IEEE International Conference on Robotics and Automation, San Diego, CA, Vol. 3, pp. 1910–1915.
11.
Dubowsky
, S.
, Sunada
, C.
, and Mavroidis
, C.
, 1999
, “Coordinated Motion and Force Control of Mobile Multi-Limb Robotic Systems
,” J. Auton. Robots
, 6
, No. 1
, pp. 7
–20
.12.
Pratt, J., 1997, “Virtual Model Control of a Biped Walking Robot,” Proceedings of IEEE International Conference on Robotics and Automation, Albuquerque, NM, Vol. 1, pp. 193–198.
13.
Khatib
, O.
, 1987
, “A United Approach for Motion and Force Control of Robot Manipulators: Operations Space Formulation
,” IEEE J. Rob. Autom.
, RA-3
, No. 1
, pp. 43
–53
.14.
Plumet, F., Morel, G., and Bidaud, P., 1995, “Shall We Use a Dynamic Model to Control the Motions of Industrial Manipulators,” Proceedings of the Ninth World Congress on Theory of Machines and Mechanisms, Milano, Italy, pp. 235–240.
15.
Shih
, C.
, Gruver
, A.
, and Lee
, T.
, 1993
, “Inverse Kinematics and Inverse Dynamics for Control of a Biped Walking Machine
,” J. Rob. Syst.
, 10
, No. 5
, pp. 531
–555
.16.
Channon
, P. H.
, Hopkins
, S. H.
, and Pham
, D. T.
, 1996
, “Optimal Control of an N-Legged Robot
,” J. Syst. Control Eng.
, 210
, No. 1
, pp. 51
–63
.17.
Pannu
, S.
, Kazerooni
, H.
, Becker
, G.
, and Packard
, A.
, 1996
, “μ-Synthesis Control for a Walking Robot
,” IEEE Control Syst. Mag.
, 16
, No. 1
, pp. 20
–25
.18.
Ilg
, W.
, and Berns
, K.
, 1995
, “Learning Architecture Based on Reinforcement Learning for Adaptive Control of the Walking Machine LAURON,”
Rob. Auton. Syst.
, 15
, No. 4
, pp. 321
–334
.19.
Schenker, P., et al., 1997, “Lightweight Rovers for Mars Science Exploration and Sample Return,” SPIE Proceedings, Intelligent Robots and Computer Vision XVI, Pittsburgh, PA.
20.
Hogan
, N.
, 1995
, “Impedance Control: an Approach to Manipulation: Part I—Theory, Part II—Implementation, Part III—Applications
,” ASME J. Dyn. Syst., Meas., Control
, 107
, pp. 1
–24
.21.
Salisbury K., 1980, “Active Stiffness Control of a Manipulator in Cartesian Coordinates,” Proceedings of the 19th IEEE Conference on Decision and Control, Albuquerque, NM, Vol. 1, pp. 95–100.
22.
Luh
, J.
, Walker
, M.
, and Paul
, R.
, 1980
, “Resolved-Acceleration Control of Mechanical Manipulators
,” IEEE Trans. Autom. Control.
, AC-25
, No. 3
, pp. 468
–474
.23.
Argaez, D. A., 1993, An Analytical and Experimental Study of the Simultaneous Control of Motion and Force of a Climbing Robot, M.S. thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA.
24.
Sunada, C., 1994, Coordinated Jacobian Transpose Control and its Application to a Climbing Machine, M.S. thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA.
25.
Khatib
, O.
, 1986
, “Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
,” Int. J. Rob. Res.
, 5
, No. 1
, pp. 90
–98
. Copyright © 2000
by ASME
You do not currently have access to this content.
