The force workspace: A tool for the design and motion planning of multi-limb robotic systems

被引：10
|
作者：
Madhani, A
Dubowsky, S
机构：
[1] Department of Mechanical Engineering, Massachusetts institute of Technology, Cambridge, MA
来源：
JOURNAL OF MECHANICAL DESIGN | 1997年 / 119卷 / 02期
关键词：
D O I：
10.1115/1.2826239
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The Force Workspace (FW) is a tool for designing mobile robotic systems,which apply large forces over large ranges of motion. It can also be used to plan motions that do not violate actuator saturation limits, system-environment force and moment contact constraints such as those due to friction, and kinematic joint limits. The FW is applied to the design analysis and motion planning of a simple robotic climbing machine.
引用
收藏
页码：218 / 224
页数：7
相关论文
共 50 条
  • [1] Coordinated motion and force control of multi-limbed robotic systems
    Dubowsky, S
    Sunada, C
    Mavroidis, C
    [J]. AUTONOMOUS ROBOTS, 1999, 6 (01) : 7 - 20
  • [2] Coordinated Motion and Force Control of Multi-Limbed Robotic Systems
    Steven Dubowsky
    Craig Sunada
    Constantinos Mavroidis
    [J]. Autonomous Robots, 1999, 6 : 7 - 20
  • [3] Mapping, localization and motion planning in mobile multi-robotic systems
    Rone, William
    Ben-Tzvi, Pinhas
    [J]. ROBOTICA, 2013, 31 : 1 - 23
  • [4] Seismic performance enhancement of buildings using multi-limb brace damper systems
    Feng, Huan
    Zhou, Fangyuan
    Ge, Hanbin
    Zhu, Hongping
    Zhou, Lemu
    [J]. STRUCTURAL DESIGN OF TALL AND SPECIAL BUILDINGS, 2021, 30 (03):
  • [5] Task-oriented motion planning for multi-arm robotic systems
    Basile, F.
    Caccavale, F.
    Chiacchio, P.
    Coppola, J.
    Curatella, C.
    [J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2012, 28 (05) : 569 - 582
  • [6] Decentralized Planning for Dynamic Motion Generation of Multi-link Robotic Systems
    Tazaki, Yuichi
    Sugiura, Hisashi
    Janssen, Herbert
    Goerick, Christian
    [J]. 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2009, : 1582 - 1587
  • [7] DESIGN AND MOTION PLANNING OF QUADRUPED ROBOTIC PLATFORM
    Raut, Sushil
    Kota, Solomon R.
    Virk, Gurvinder S.
    [J]. MOBILE SERVICE ROBOTICS, 2014, : 207 - +
  • [8] Design and Motion Planning for a Reconfigurable Robotic Base
    Pankert, Johannes
    Valsecchi, Giorgio
    Baret, Davide
    Zehnder, Jon
    Pietrasik, Lukasz L.
    Bjelonic, Marko
    Hutter, Marco
    [J]. IEEE ROBOTICS AND AUTOMATION LETTERS, 2022, 7 (04) : 9012 - 9019
  • [9] A Motion Planning Approach for Marsupial Robotic Systems
    Stankiewicz, Paul G.
    Jenkins, Stephen
    Mullins, Galen E.
    Wolfe, Kevin C.
    Johannes, Matthew S.
    Moore, Joseph L.
    [J]. 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2018, : 7932 - 7938
  • [10] Mechanical design and trajectory planning of a lower limb rehabilitation robot with a variable workspace
    Wang, Hongbo
    Feng, Yongfei
    Yu, Hongnian
    Wang, Zhenghui
    Vladareanuv, Victor
    Du, Yaxin
    [J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2018, 15 (03):
12345