Development of Methodology for Design and Analysis of Physically Cooperating Robot and Applications to Other Robotic Systems

@inproceedings{Deshpande2006DevelopmentOM,
  title={Development of Methodology for Design and Analysis of Physically Cooperating Robot and Applications to Other Robotic Systems},
  author={Ashish Deshpande and Jonathan E. Luntz},
  booktitle={Robotics: Science and Systems},
  year={2006}
}
There is a need to develop a methodology to model physically cooperating mobile robots so as to systematically design and analyze such systems. Our approach is to treat the linked mobile robots as a multiple degree-of-freedom object, comprising an articulated open kinematic chain, which is being manipulated by pseudo robots (p-robots) at the ground interaction points. Dynamics of the open chain are computed independently of the constraints, thus allowing the same set of equations to be used as… CONTINUE READING