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

Roberto Lampariello, Satoko Abiko, Gerd Hirzinger

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2008 IEEE International Conference on Robotics and Automation, ICRA 2008
ページ1207-1212
ページ数6
DOI
出版ステータスPublished - 2008
外部発表はい
イベント2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
継続期間: 2008 5 192008 5 23

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

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

ASJC Scopus subject areas

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

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