Trajectory Optimization and Control of a Free-Floating Two-Arm Humanoid Robot
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Título: | Trajectory Optimization and Control of a Free-Floating Two-Arm Humanoid Robot |
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Autor/es: | Ramón, José L. | Calvo González, Ramón | Trujillo López, Adrián | Pomares, Jorge | Felicetti, Leonard |
Grupo/s de investigación o GITE: | Human Robotics (HURO) |
Centro, Departamento o Servicio: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal |
Palabras clave: | Humanoid robot | Optimization algorithm | Robotic arms | Extravehicular activities |
Área/s de conocimiento: | Ingeniería de Sistemas y Automática |
Fecha de publicación: | 2-may-2022 |
Editor: | American Institute of Aeronautics and Astronautics (AIAA) |
Cita bibliográfica: | Journal of Guidance, Control, and Dynamics. 2022, 45(9): 1661-1675. https://doi.org/10.2514/1.G006828 |
Resumen: | An optimization algorithm for planning the motion of a humanoid robot during extravehicular activities is presented in this paper. The algorithm can schedule and plan the movements of the two robotic arms to move the humanoid robot by using the handrails present outside the International Space Station. The optimization algorithm considers the eventual constraints imposed by the topology of the handrails and calculates the sequence of grasping and nongrasping phases needed to push and pull the robot along the handrails. A low-level controller is also developed and used to track the planned arms and end-effectors trajectories. Numerical simulations assess the applicability of the proposed strategy in three different typical operations that potentially can be performed in an extravehicular activity scenario. |
URI: | http://hdl.handle.net/10045/123450 |
ISSN: | 0731-5090 (Print) | 1533-3884 (Online) |
DOI: | 10.2514/1.G006828 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/article |
Derechos: | © 2022 by the American Institute of Aeronautics and Astronautics, Inc. |
Revisión científica: | si |
Versión del editor: | https://doi.org/10.2514/1.G006828 |
Aparece en las colecciones: | INV - HURO - Artículos de Revistas |
Archivos en este ítem:
Archivo | Descripción | Tamaño | Formato | |
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Ramon_etal_2022_JGCD_accepted.pdf | Accepted Manuscript (acceso abierto) | 1,86 MB | Adobe PDF | Abrir Vista previa |
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