Task priority grasping and locomotion control of modular robot

摘要

This paper presents modular robots for grasping manipulation with locomotion capability. At the beginning, a brief overview on hyper-redundant and modular grasping approach is given. The innovations of this research lie in two points. Firstly, different grasping modes are integrated based on modular approach. Then manipulation capability of robotic arms and flexible locomotion mobility of mobile robots are combined in our current project. Furthermore, the approach in the paper is not only considering manipulation and mobility in modular robots but also, the exploitation of a task priority based approach introduced to manage the trade-off between these two functionalities. Related kinematics of our approach is present systematically. A rational simulation is also given to confirm the idea. In the end a conclusion is given and future work is outlined.