IMPROVED STRATIFIED CONTROL FOR HEXAPOD ROBOTS AND OBJECT MANIPULATION WITH FINGER RELOCATION
IMPROVED STRATIFIED CONTROL FOR HEXAPOD ROBOTS AND OBJECT MANIPULATION WITH FINGER RELOCATION
复制标题
改进六足机器人的分层控制和通过手指重新定位的物体操作
DOI：
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发表时间：
1999
期刊：
影响因子：
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通讯作者：
S. Payandeh
中科院分区：
文献类型：
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作者：
I. Harmati;B. Lantos;S. Payandeh
本文讨论了腿式机器人和仿人手的运动设计。我们通过相对简单的六足机器人的例子，传统的分层控制方法的可能性和局限性，并提供了一些建议，一个更强大的运动规划解决方案。通过步长修正提高了算法的精度，通过时间缩放提高了算法的适用性。所开发的软件是基于符号计算。另一方面，我们的基本目标是提供一个强大的基本概念，对象操作与手指搬迁的分层控制的背景下，作为早期作品的延伸。该概念的重点是手指步态操纵（基于手指重新定位），以获得非光滑对象的一些属性。
The paper deals with the motion design of legged robots and dextrous hands. We show the possibilities and limitation of conventional stratified control approach through the relative simple example of hexapod robot and offer some proposals for a more robust motion planning solution. The precision of the algorithms was improved by step length modification and the applicability was increased by time scaling. The developed software is based on symbolic computation. On the other hand, our fundamental goal is to provide a powerful basic concept for object manipulation with finger relocation in the context of stratified control as an extension of earlier works. The concept focuses on the finger gaiting manipulation (based on finger relocation) to gain some attributes of the nonsmooth object.