Dynamics modeling of structure-varying kinematic chains for free-flying robots

Roberto Lampariello, Satoko Abiko, Gerd Hirzinger

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

A new method for the computation of the dynamics of structure-varying kinematic chains is proposed. This is based on the complete redefinition of the system connectivity deriving from a given structural change. The derived computational efficiency is then described with examples of typical motion planning tasks and structure changes for free-flying robots. These include open branched chains and closed loops, in free and grappled conditions. The method may then contribute to the efficiency of motion planning for robots which may require different kinematic structures for a given task.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages1207-1212
Number of pages6
DOIs
Publication statusPublished - 2008 Sep 18
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: 2008 May 192008 May 23

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period08/5/1908/5/23

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Lampariello, R., Abiko, S., & Hirzinger, G. (2008). Dynamics modeling of structure-varying kinematic chains for free-flying robots. In 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 (pp. 1207-1212). [4543368] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2008.4543368