|
| Methods from Cooperative Mobility to Manipulation |
We have developed
a framework for analyzing a variety of
multi-body robotic system involving environmental interactions. The
introduction of "pseudo robots (p-robots)" at points of contact with
the environment ‘opens up’ closed kinematic chains which are
cumbersome to analyze and decoupling achieved through constraining
the p-robots facilitates analysis of kinematic as well as force
constraints. We demonstrate this approach with analysis of a number of
robotic systems including cooperative manipulation systems and human
motions models. Here are two illustrations:
Block Standing Problem: Our approach can be extended to
analyze cooperative manipulation systems, in which contact with the
environment is critical. For example consider the system as shown in
Figure 1. Instead of analyzing the contacts at points A and B as
environmental constraints we can introduce 2-DOF p-robots at these
two points. We can then constrain the ‘tangential’ motions of the
p-robots via kinematic constraints and the ‘normal’ motions to be
zero. Such an approach has the benefit of being able to explicitly
solve for the contact forces, thus allowing for evaluation not only
of the allowable motions, but also of the required friction
conditions for a desired motion.
Bus Riding: Deriving models of
human body motion is important for prosthetics, rehabilitation and
development of humanoids. We present a method that simplifies the
derivation of equations of motion of human movements.
Consider an
example of a person standing in an accelerating bus and using the
body dynamics to stabilize her posture. Consider a person standing
in a moving bus as shown in Figure 4.15. She is holding a vertical
bar as shown in the figure as the bus accelerates forward and around
a curve (with tangential
and centrifugal components). In this example the forces and the
accelerations act in all three dimensions (as against planar 2-D in
other examples) and we demonstrate that our method is suitable for
3-D analysis as well. Using our method we determine if the motion of
the bus causes slippage at the feet, OR tipping in the n1 direction,
OR tipping in n2 direction. Even this simple model leads to
interesting multi-body interactions and closed kinematic chains in
3-D, which is challenging to analyze especially while deriving a
complete dynamic model.
The problem statement are: Given the
body parameters and the bus motion parameters, what are the
resulting forces and torques on the rider’s body? Do these forces
and torques cause undesirable slippage and tipping? Can a change in
pose affect slippage and tipping?
|
Figure
1 |
Figure 2 |
Journal Articles in
Robotics/Dynamics Area
A novel approach
for dynamics analysis and controls synthesis for a variety of
multi-body robotic systems
Deshpande, A. D., and Luntz, J.
E.,
Submitted to the International Journal of Robotics Research, 2008.
Conference Papers in Robotics/Dynamics Area
Human Motion Modeling with a Robotics Method: Analysis of a Person
Riding a Bus
Deshpande, A. D., and Luntz,
J. E., In Proceedings of ASME Dynamical Systems and Controls
Conference, 2008.
Download: pdf
A
Method to Characterize and Exploit Actuation Redundancy in Mobility
and Manipulation
Deshpande, A. D., and Luntz,
J. E., In Proceedings of IEEE/RSJ International Conference
on Intelligent Robots and Systems, 2007.
[Abstract], Download:
pdf [KB]
A Methodology
for Kinematic and Dynamic Analysis of Robotic Systems with Internal
Actuation
Deshpande, A. D., and Luntz,
J. E., In Proceedings of ASME International Mechanical
Engineering Congress and Exposition, 2007.
[Abstract], Download:
pdf [KB]
Development of Methodology for Design
and Analysis of Physically Cooperating Robot and Applications to
Other Robotic Systems
Deshpande, A. D., and Luntz, J.
E., In Proceedings of Robotics: Science and Systems,
2006.
[Abstract], Download:
pdf [KB]
|
