Coordinated Motion and Force Control of Multi-Limbed Robotic Systems

Dubowsky, S; Sunada, C; Mavroidis, C

dc.contributor.author	Dubowsky, S	en
dc.contributor.author	Sunada, C	en
dc.contributor.author	Mavroidis, C	en
dc.date.accessioned	2014-03-01T01:48:32Z
dc.date.available	2014-03-01T01:48:32Z
dc.date.issued	1999	en
dc.identifier.issn	09295593	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/25510
dc.relation.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-0032677664&partnerID=40&md5=b8b23870e4752c771606107a32b35b0d	en
dc.subject	Jacobian transpose control	en
dc.subject	Motion/force control	en
dc.subject	Walking robots	en
dc.subject.other	Algorithms	en
dc.subject.other	Force control	en
dc.subject.other	Motion control	en
dc.subject.other	Position control	en
dc.subject.other	Coordinated Jacobian transpose control (CJTC)	en
dc.subject.other	Generalized control variables (GCV)	en
dc.subject.other	Mobile robots	en
dc.title	Coordinated Motion and Force Control of Multi-Limbed Robotic Systems	en
heal.type	journalArticle	en
heal.publicationDate	1999	en
heal.abstract	This analytic and experimental study proposes a control algorithm for coordinated position and force control for autonomous multi-limbed mobile robotic systems. The technique is called Coordinated Jacobian Transpose Control (CJTC). Such position/force control algorithms will be required if future robotic systems are to operate effectively in unstructured environments. Generalized Control Variables (GCVs), express in a consistent and coordinated manner the desired behavior of the forces exerted by the multi-limbed robot on the environment and a system's motions. The effectiveness of this algorithm is demonstrated in simulation and laboratory experiments on a climbing system.	en
heal.journalName	Autonomous Robots	en
dc.identifier.volume	6	en
dc.identifier.issue	1	en
dc.identifier.spage	7	en
dc.identifier.epage	20	en