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• W2516038218 abstract "This thesis studies mobile robotic manipulators, where one or more robot manipulator arms areintegrated with a mobile robotic base. The base could be a wheeled or tracked vehicle, or it might be amulti-limbed locomotor. As robots are increasingly deployed in complex and unstructured environments,the need for mobile manipulation increases. Mobile robotic assistants have the potential to revolutionize humanlives in a large variety of settings including home, industrial and outdoor environments. Mobile Manipulation is the use or study of such mobile robots as they interact with physicalobjects in their environment. As compared to fixed base manipulators, mobile manipulators can takeadvantage of the base mechanism’s added degrees of freedom in the task planning and execution process.But their use also poses new problems in the analysis and control of base system stability, and theplanning of coordinated base and arm motions. For mobile manipulators to be successfully andefficiently used, a thorough understanding of their kinematics, stability, and capabilities is required.Moreover, because mobile manipulators typically possess a large number of actuators, new and efficientmethods to coordinate their large numbers of degrees of freedom are needed to make them practicallydeployable. This thesis develops new kinematic and stability analyses of mobile manipulation, and newalgorithms to efficiently plan their motions. I first develop detailed and novel descriptions of the kinematics governing the operation of multi-limbed legged robots working in the presence of gravity, and whose limbs may also be simultaneouslyused for manipulation. The fundamental stance constraint that arises from simple assumptions aboutfriction and the ground contact and feasible motions is derived. Thereafter, a local relationship betweenjoint motions and motions of the robot abdomen and reaching limbs is developed. Baseeon theserelationships, one can define and analyze local kinematic qualities including limberness, wrenchresistance and local dexterity. While previous researchers have noted the similarity between multi-fingered grasping and quasi-static manipulation, this thesis makes explicit connections between these twoproblems. The kinematic expressions form the basis for a local motion planning problem that thatdetermines the joint motions to achieve several simultaneous objectives while maintaining stance stabilityin the presence of gravity. This problem is translated into a convex quadratic program entitled thebalanced priority solution, whose existence and uniqueness properties are developed. This problem isrelated in spirit to the classical redundancy resoxlution and task-priority approaches. With some simplemodifications, this local planning and optimization problem can be extended to handle a large variety ofgoals and constraints that arise in mobile-manipulation. This local planning problem applies readily toother mobile bases including wheeled and articulated bases. This thesis describes the use of the localplanning techniques to generate global plans, as well as for use within a feedback loop. The work in thisthesis is motivated in part by many practical tasks involving the Surrogate and RoboSimian robots atNASA/JPL, and a large number of examples involving the two robots, both real and simulated, areprovided. Finally, this thesis provides an analysis of simultaneous force and motion control for multi-limbed legged robots. Starting with a classical linear stiffness relationship, an analysis of this problem formultiple point contacts is described. The local velocity planning problem is extended to includegeneration of forces, as well as to maintain stability using force-feedback. This thesis also provides aconcise, novel definition of static stability, and proves some conditions under which it is satisfied." @default.
• W2516038218 created "2016-09-16" @default.
• W2516038218 creator A5054477828 @default.
• W2516038218 date "2016-01-01" @default.
• W2516038218 modified "2023-09-23" @default.
• W2516038218 title "Kinematics and Local Motion Planning for Quasi-static Whole-body Mobile Manipulation" @default.
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• W2516038218 doi "https://doi.org/10.7907/z9kk98rx." @default.
• W2516038218 hasPublicationYear "2016" @default.
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