Motion planning of mobile multi-limb robotic systems subject to force and friction constraints

Abstract

Multi-limb, mobile robotic systems will need to apply large forces over large ranges of motion. This paper presents the Force-Workspace Approach which can be used to plan the activities of such systems allowing them to execute such tasks without violating actuation limits, frictional constraints with their environments, and joint range of motion limits. The technique is applied to a robotic climbing machine.

DOI: 10.1109/ROBOT.1992.220257

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@inproceedings{Madhani1992MotionPO, title={Motion planning of mobile multi-limb robotic systems subject to force and friction constraints}, author={Akhil Madhani and Steven Dubowsky}, booktitle={ICRA}, year={1992} }