Integrated and Adaptive Locomotion and Manipulation for Self-reconfigurable Robots

Integrated and adaptive locomotion and manipulation (IALM) is a key capability for robots to perform real-world applications in challenging environments. It requires interleaving many tasks, sometimes simultaneously, and switching the functions and roles of body components on demand. For example, for autonomous assembly in space, a multiple-tentacle single body "octopus" may have to become a distributed group of "ant" robots, while a hand-like end-effector useful in one case may have to function as an anchor foot in a different situation. This paper presents a general control framework for coordinating high-dimensional dexterous locomotion and manipulation in self-reconfigurable robotic tree structures. The controller is implemented on the SuperBot robotic system and validated in real-time, high fidelity, physics-based simulation. The results have shown many promising capabilities in high-dimensional, dynamic kinematic control for locomotion, manipulation, and self-reconfiguration essential for future autonomous assembly applications.