Redundancy in Robot Manipulators and Multi-Robot Systems by Ravi Balasubramanian, Aaron M. Dollar (auth.), Dejan

By Ravi Balasubramanian, Aaron M. Dollar (auth.), Dejan Milutinović, Jacob Rosen (eds.)

The pattern within the evolution of robot platforms is that the variety of levels of freedom raises. this is often obvious either in robotic manipulator layout and within the shift of concentration from unmarried to multi-robot platforms. Following the foundations of evolution in nature, one may perhaps infer that including levels of freedom to robotic platforms layout is useful. even though, in view that nature didn't opt for snake-like our bodies for all creatures, it's average to count on the presence of a definite choice strain at the variety of levels of freedom. therefore, realizing expenditures and advantages of a number of levels of freedom, specially those who create redundancy, is a primary challenge within the box of robotics.

This quantity is generally in accordance with the works provided on the workshop on Redundancy in robotic Manipulators and Multi-Robot platforms on the IEEE/RSJ foreign convention on clever Robots and structures - IROS 2011. The workshop used to be anticipated as a conversation among researchers from separate, yet evidently comparable fields of robotics: one who offers with structures having a number of levels of freedom, together with redundant robotic manipulators, and the opposite that bargains with multirobot platforms. the amount contains twelve chapters, every one representing one of many fields.

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This result confirms the algorithm’s robustness with respect to communication failures, which ultimately reinforces the underlying asynchronous nature of our collaborative paradigm. 5 1 RMSE [m] RMSE [m] Fig. 4 (a) Schematic illustration of two robots driving past each other. Three detections are made. (b) Localization error for an initially unlocalized robot. It detects a localized robot three times along its path. The standard and reciprocal sampling algorithms (employing 50 particles) are tested 1000 times on the data set.

On the slope, the results of the performance measured by the slip are even more distinct. 5, while the other controllers slip up to 2 to 3 times more for the same simulation conditions. e. 33. The amount of slipping is still lower for the proposed controller but we note that the high gain PID controller has similar performance for the lowest friction coefficient – again we would like to point out that, however, the PID controller is not compliant and rather stiff. Again, the distribution of forces on the ground varies less and is more vertically oriented in the case of the controller using the optimal distribution of forces.

We note that in our experiment roughly 40 to 50% of the total command is due to the PD controller, which is rather high. These limitations are not fundamental ones and can easily be overcome in more advanced robotic platforms with joint-level force sensing and high control bandwidth. Our current results then suggest that the proposed controller should perform even better on these platforms. 5 Conclusion In this chapter we showed how torque redundancy could be exploited to optimize contact forces in inverse dynamics controllers.

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