Integration of Locomotion and Manipulation Control for Articulated Body Mobile Robots
Integration of Locomotion and Manipulation Control for Articulated Body Mobile Robots
复制标题
铰接体移动机器人的运动与操纵控制集成
DOI：
10.7210/jrsj.18.1112
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发表时间：
2000
期刊：
影响因子：
--
通讯作者：
S. Hirose
中科院分区：
文献类型：
--
作者：
E. F. Fukushima;S. Hirose
关节式移动的机器人KORYU具有长蛇状的身体构造，并且像蛇一样，它具有从其关节式身体增加自由度并且还使用身体的运动自由度来执行操纵的内在能力。在本文中，我们探索这些优势，配置一个增强的机械手与有效的集成操作和转向控制的真实的机械模型KR-II。该机器人在其最前面的部分配备了一个单连杆机械臂，因此原始配置的任务范围非常有限。计算机仿真和实验结果表明，操作配置的有效性和所提出的系统的通用性。
The articulated body mobile robot KORYU possess a long snake like body configuration, and as like snakes, it has an intrinsic capability to perform manipulation adding degrees of freedom from its articulated body, and also using the body's locomotion freedom. In this paper, we explore these advantages to configure an augmented manipulator with effective integration of manipulation and steering control for the real mechanical model KR-II. This robot is equipped with a single link manipulator arm on its foremost segment, and thus the range of tasks for the original configuration is extremely limited. Computer simulation and experimental results are shown to demonstrate the validity of the manipulation configurations and the versatility of the proposed system.