Reduced Euler-Lagrange Equations of Floating-Base Robots: Computation, Properties,  Applications

Hrishik Mishra; Gianluca Garofalo; Alessandro Massimo GiordanoMarco De StefanoChristian OttAndreas Kugi

首页> 外文期刊>IEEE Transactions on Robotics: A publication of the IEEE Robotics and Automation Society >Reduced Euler-Lagrange Equations of Floating-Base Robots: Computation, Properties, Applications

【24h】

Reduced Euler-Lagrange Equations of Floating-Base Robots: Computation, Properties, Applications

机译：Reduced Euler-Lagrange Equations of Floating-Base Robots: Computation, Properties, Applications

获取原文

获取原文并翻译 | 示例

获取外文期刊封面封底 >>

开具论文收录证明 >>

文献代查 >>

页面导航

摘要
著录项
相关主题

摘要

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.

著录项

来源
《IEEE Transactions on Robotics: A publication of the IEEE Robotics and Automation Society》 |2023年第2期|1439-1457|共19页
作者
Hrishik Mishra; Gianluca Garofalo; Alessandro Massimo GiordanoMarco De StefanoChristian OttAndreas Kugi;
展开▼
作者单位

Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany|Automation and Control Institute, Technische Universit?t Wien, Vienna, Austria;

ABB Corporate Research, V?ster?s, Sweden;

Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany|Department of Informatics, Technical University of Munich, Munich, GermanyInstitute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, GermanyAutomation and Control Institute, Technische Universit?t Wien, Vienna, Austria;

展开▼
收录信息
原文格式 PDF
正文语种英语
中图分类机器人技术;
关键词
Robots; Mathematical models; Shape; Aerodynamics; Kinematics; Robot kinematics; Iterative methods;

Reduced Euler-Lagrange Equations of Floating-Base Robots: Computation, Properties, Applications

摘要

著录项

相关主题

期刊订阅