TY - GEN
T1 - Step-by-Step Kinematic Modeling and Control of a Robot with a Free-Floating Base
AU - Ramos, Oscar E.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/5
Y1 - 2018/12/5
N2 - Motion generation for legged mobile robots, which are characterized by an underactuated free-floating base, has become an important research topic in recent years. Although several research groups have addressed the problem of controlling the base in their own implementations, there is no work that completely describes the framework used to handle it, which makes it complicated for new researchers to find a proper solution. This paper aims at bridging this gap and presents a step-by-step guide to model the effect of the floating base on the kinematics of the robot, and to properly control it to achieve whole-body motion. The proposed framework is generic and can be applied to any legged underactuated robot such as a humanoid robot, a quadruped, an hexapod, amongst others. The results show an example of implementation using the model of a quadruped robot.
AB - Motion generation for legged mobile robots, which are characterized by an underactuated free-floating base, has become an important research topic in recent years. Although several research groups have addressed the problem of controlling the base in their own implementations, there is no work that completely describes the framework used to handle it, which makes it complicated for new researchers to find a proper solution. This paper aims at bridging this gap and presents a step-by-step guide to model the effect of the floating base on the kinematics of the robot, and to properly control it to achieve whole-body motion. The proposed framework is generic and can be applied to any legged underactuated robot such as a humanoid robot, a quadruped, an hexapod, amongst others. The results show an example of implementation using the model of a quadruped robot.
UR - https://www.scopus.com/pages/publications/85060371287
U2 - 10.1109/ANDESCON.2018.8564690
DO - 10.1109/ANDESCON.2018.8564690
M3 - Conference contribution
AN - SCOPUS:85060371287
T3 - 2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings
BT - 2018 IEEE ANDESCON, ANDESCON 2018 - Conference Proceedings
A2 - Callejas, Jose David Cely
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th IEEE ANDESCON, ANDESCON 2018
Y2 - 22 August 2018 through 24 August 2018
ER -