Dynamics modeling of structure-varying kinematic chains for free-flying robots

Roberto Lampariello, Satoko Abiko, Gerd Hirzinger

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)

    Abstract

    A new method for the computation of the dynamics of structure-varying kinematic chains is proposed. This is based on the complete redefinition of the system connectivity deriving from a given structural change. The derived computational efficiency is then described with examples of typical motion planning tasks and structure changes for free-flying robots. These include open branched chains and closed loops, in free and grappled conditions. The method may then contribute to the efficiency of motion planning for robots which may require different kinematic structures for a given task.

    Original languageEnglish
    Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
    Pages1207-1212
    Number of pages6
    DOIs
    Publication statusPublished - 2008 Sep 18
    Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
    Duration: 2008 May 192008 May 23

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    ISSN (Print)1050-4729

    Other

    Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
    CountryUnited States
    CityPasadena, CA
    Period08/5/1908/5/23

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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