Arm-Leg Coordination of Multilimbed Industrial Robots

多肢工业机器人(至少有一只手臂和两条或更多条腿的机器人)被建议用于提高工业自动化中的机器人性能。与普通手臂相比，多腿机器人具有三个优点：(1)可到达的工作空间大，(2)避免手臂退化，(3)手用力大。为了规划多腿机器人的运动，通过任务分解研究了臂腿运动协调问题。具体地说，给定的任务被分解为手臂操纵和腿部运动的子任务。前者定义为末端执行器相对于主体的运动，后者定义为主体本身的运动。对于给定任务的最优分解，提出了三个准则：最小能量、最佳可操纵性和最小努力。

Multilimbed industrial robots (robots that have at least one arm and two or more legs) are suggested for improving robot performance in industrial automation. Because of the legged mobility, a multilimbed robot has three advantages in comparison with an ordinary arm: (1) a large reachable work space, (2) arm degeneracy avoidance, and (3) large force exertion by the hand. To plan multilimbed robot motion, the arm-leg motion coordination problem is studied through task decomposition. Specifically, a given task is decomposed into subtasks for arm manipulation and for leg locomotion. The former is defined as the end-effector motion with respect to the main body, and the latter as the motion of the main body itself. For optimal decomposition of a given task, three criteria are proposed: least-energy, best-manipulability, and minimum-effort.