Task decomposition for multilimbed robots to work in the reachable-but-unorientable spaceMultilimbed industrial robots that have at least one arm and two or more legs are suggested for enlarging robot workspace in industrial automation. To plan the motion of a multilimbed robot, the arm-leg motion-coordination problem is raised and task decomposition is proposed to solve the problem; that is, a given task described by the destination position and orientation of the end-effector is decomposed into subtasks for arm manipulation and for leg locomotion, respectively. The former is defined as the end-effector position and orientation with respect to the legged main body, and the latter as the main-body position and orientation in the world coordinates. Three approaches are proposed for the task decomposition. The approaches are further evaluated in terms of energy consumption, from which an optimal approach can be selected.
Document ID
19910050597
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Su, Chao (Ohio State Univ. Columbus, OH, United States)
Zheng, Yuan F. (Ohio State University Columbus, United States)