A coordinated Jacobian transpose control for mobile multi-limbed robotic systems

摘要

This analytic and experimental study proposes a control algorithm based on Jacobian control for coordinated position and force control for autonomous multi-limbed mobile robotic systems. The technique is called coordinated Jacobian transpose control, or CJTC. Such position/force control algorithms will be required if future robotic systems are to operate effectively in unstructured environments. Generalized control variables, GCV's, 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.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>