Mishra, Hrishik und Garofalo, Gianluca und Giordano, Alessandro Massimo und De Stefano, Marco und Ott, Christian und Kugi, Andreas (2022) Reduced Euler-Lagrange Equations of Floating-base Robots: Computation, Properties & Applications. IEEE Transactions on Robotics. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2022.3206716. ISSN 1552-3098.
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Offizielle URL: https://ieeexplore.ieee.org/document/9929266
Kurzfassung
At first glance, a floating-base robotic system is a kinematic chain, and its equations of motion are described by the inertia-coupled dynamics of its shape and movable base. However, the dynamics embody an additional structure due to the momentum evolution, which acts as a velocity constraint. In prior works of robot dynamics, matrix transformations of the dynamics revealed a block-diagonal inertia. However, the structure of the transformed matrix of Coriolis/Centrifugal (CC) terms was not examined, and is the primary contribution of this article. To this end, we simplify the CC terms from robot dynamics and derive the analogous terms from geometric mechanics. Using this interdisciplinary link, we derive a two-part structure of the CC matrix, in which each partition is iteratively computed using a self-evident velocity dependency. Through this CC matrix, we reveal a commutative property, the velocity dependencies of the skew-symmetry property, the invariance of the shape dynamics to the basis of momentum, and the curvature as a matrix operator. Finally, we show the application of the proposed CC matrix structure through controller design and locomotion analysis.
elib-URL des Eintrags: | https://elib.dlr.de/189344/ | ||||||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||||||
Titel: | Reduced Euler-Lagrange Equations of Floating-base Robots: Computation, Properties & Applications | ||||||||||||||||||||||||||||
Autoren: |
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Datum: | 25 Oktober 2022 | ||||||||||||||||||||||||||||
Erschienen in: | IEEE Transactions on Robotics | ||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||
DOI: | 10.1109/TRO.2022.3206716 | ||||||||||||||||||||||||||||
Herausgeber: |
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Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||||||
Name der Reihe: | IEEE Transactions on Robotics | ||||||||||||||||||||||||||||
ISSN: | 1552-3098 | ||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||
Stichwörter: | Lagrangian dynamics, dynamics, motion control, nonholonomic mechanisms and systems | ||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - On-Orbit Servicing [RO] | ||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||||||||||||||
Hinterlegt von: | Mishra, Hrishik | ||||||||||||||||||||||||||||
Hinterlegt am: | 26 Okt 2022 20:54 | ||||||||||||||||||||||||||||
Letzte Änderung: | 26 Okt 2022 20:54 |
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