Conference Papers in Robotics/Dynamics Area

Title: A Methodology for Kinematic and Dynamic Analysis of Robotic Systems with Internal Actuation

Authors: Deshpande, A. D., and Luntz, J. E.

Abstract:

Robots with internal actuation and un-actuated environmental contacts form an important class of robotic systems that includes walking and climbing robots. Since actuation for motion in these robots is achieved indirectly the design and analysis present interesting challenges. In this paper we extend our previously described method called the P-robot Method and apply it to analyze internally actuated robotic systems. We illustrate our techniques by using a simple example of a ladder resting against a wall. Our technique determine the conditions under which the
ladder holds its position against the wall quasi-statically while satisfying the friction constraints and also determine the effects of ladder dynamics on the constraints. We claim that the techniques are applicable to more complex systems such as walking and climbing robots and also to human motion modeling.