TY - GEN
T1 - Dynamics modeling of structure-varying kinematic chains for free-flying robots
AU - Lampariello, Roberto
AU - Abiko, Satoko
AU - Hirzinger, Gerd
PY - 2008/9/18
Y1 - 2008/9/18
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=51649112752&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51649112752&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543368
DO - 10.1109/ROBOT.2008.4543368
M3 - Conference contribution
AN - SCOPUS:51649112752
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1207
EP - 1212
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -