Integrated and Adaptive Locomotion and Manipulation for Self-reconfigurable Robots

Thomas Joseph Collins and Wei-Min Shen. Integrated and Adaptive Locomotion and Manipulation for Self-reconfigurable Robots. In Proc. 2017 Intl. Conf. on Towards Autonomous Robotic Systems, pp. 150–165, Springer International Publishing, Guildford, UK, July 2017.

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Abstract

Integrated and adaptive locomotion and manipulation (IALM) is a key capability for robots to perform real-world applications in challenging environments. It requires interleaving many tasks, sometimes simultaneously, and switching the functions and roles of body components on demand. For example, for autonomous assembly in space, a multiple-tentacle single body "octopus" may have to become a distributed group of "ant" robots, while a hand-like end-effector useful in one case may have to function as an anchor foot in a different situation. This paper presents a general control framework for coordinating high-dimensional dexterous locomotion and manipulation in self-reconfigurable robotic tree structures. The controller is implemented on the SuperBot robotic system and validated in real-time, high fidelity, physics-based simulation. The results have shown many promising capabilities in high-dimensional, dynamic kinematic control for locomotion, manipulation, and self-reconfiguration essential for future autonomous assembly applications.

BibTeX Entry

@InProceedings{collins2017-integrated-and-adaptive-locomotion-and-manipulation-for-self-reconfigurable-robots,
	abstract = {Integrated and adaptive locomotion and manipulation (IALM) is a key capability for robots to perform real-world applications in challenging environments. It requires interleaving many tasks, sometimes simultaneously, and switching the functions and roles of body components on demand. For example, for autonomous assembly in space, a multiple-tentacle single body "octopus" may have to become a distributed group of "ant" robots, while a hand-like end-effector useful in one case may have to function as an anchor foot in a different situation. This paper presents a general control framework for coordinating high-dimensional dexterous locomotion and manipulation in self-reconfigurable robotic tree structures. The controller is implemented on the SuperBot robotic system and validated in real-time, high fidelity, physics-based simulation. The results have shown many promising capabilities in high-dimensional, dynamic kinematic control for locomotion, manipulation, and self-reconfiguration essential for future autonomous assembly applications.}, 
	address = {Guildford, UK}, 
	author = {Thomas Joseph Collins and Wei-Min Shen}, 
	booktitle = taros-17, 
	doi = {10.1007/978-3-319-64107-2_13}, 
	editor = {Gao, Yang and Fallah, Saber and Jin, Yaochu and Lekakou, Constantina}, 
	isbn = {978-3-319-64107-2}, 
	pages = {150--165}, 
	publisher = {Springer International Publishing}, 
	title = {Integrated and Adaptive Locomotion and Manipulation for Self-reconfigurable Robots}, 
	url = {https://doi.org/10.1007/978-3-319-64107-2_13}, 
	month = jul,
	year = {2017}, 
}