A Coordinated Jacobian Transpose Control for Mobile Multi-Limbed Robotic Systems

Thisanalyticand experiment studyproposes a control algorithm based on Jacobian Controlfor coordinated position andforce controlfor autonomous multi-limbed mobile robotic systems. The technique is called CoordinatedJacobian TransposeControl,or CSTC. Such positiodforce control algorithms will be required iffuture robotic systems are to operate effectivelyin unstructured environments. Generalized Control Variables, GCV s. express in a consistent and coordinated manner the desired behavior of theforces exerted by the multi-limbed robot on the environmentand a system'smotions.Theeffectivenessof thisalgorithmis demonstrated insimulation andlaboratoryexperimentson a climbingsystem.

• Type: Conference
• Year: 1994
• Where: ICRA
• Authors: Craig Sunada, Dalila Argaez, Steven Dubowsky, Constantinos Mavroidis
• Keywords: Control Algorithms, Controlfor Coordinated Position, ICRA 1994, Robotic Systems, Robotics