Design and Motion Planning of Multi-Limb Robotic Systems: The Force-Workspace Approach

Abstract

Abstract A method, called the Force Workspace (FW) approach, is presented for the design and motion planning of mobile multi-limb robotic systems which must as part of their tasks apply large forces over large ranges of motion. These systems will be limited by actuator force/torque saturation limits, system-environment force and moment constraints such as friction, and kinematic joint limits. The FW can be used for the quantitative design of such systems and enables motions to be planned to perform tasks without violating the above constraints. Examples of FW based design and planning are given for a robotic climbing machine.