A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry

被引:10
作者
Wang ZhiFeng [1 ,3 ]
Ma ShuGen [1 ,2 ]
Li Bin [1 ]
Wang YueChao [1 ]
机构
[1] Chinese Acad Sci, State Key Lab Robot, Shenyang Inst Automat, Shenyang 110016, Peoples R China
[2] Ritsumeikan Univ, Dept Robot, Shiga 5258577, Japan
[3] Chinese Acad Sci, Grad Univ, Beijing 100039, Peoples R China
关键词
snake-like robot; dynamics; unified model; differential geometry; locomotion; manipulation;
D O I
10.1007/s11432-010-4161-z
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
A snake-like robot, whose body is a seried-wound articulated mechanism, can move in various environments. In addition, when one end is fixed on a base, the robot can manipulate objects. A method of dynamic modeling for locomotion and manipulation of the snake-like robot is developed in order to unify the dynamic equations of two states. The transformation from locomotion to manipulation is a mechanism reconfiguration, that is, the robot in locomotion has not a fixed base, but it in manipulation has one. First, a virtual structure method unifies the two states in mechanism (e.g., an embedding in the configuration space); second, the product-of-exponentials formula describes the kinematics; third, the dynamics of locomotion and manipulation are established in a Riemannian manifold; finally, based on the analysis of the dynamic model, the dynamics of manipulation can be directly degenerated from those of locomotion, and this degeneration relation is proved through using the Gauss equations. In the differential geometry formulation, this method realizes the unification of the dynamics of locomotion and manipulation. According to a geometrical point of view, the unified dynamic model for locomotion and manipulation is considered as a submanifold problem endowed with geometric meaning. In addition, the unified model offers an insight into the dynamics of the snake-like robot beyond the dynamic model separately established for locomotion or manipulation.
引用
收藏
页码:318 / 333
页数:16
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