Location of Repository

An approximate decoupled dynamics and kinematics analysis of legless locomotion



This is the author's peer-reviewed final manuscript, as accepted by the publisher. The published article is copyrighted by Springer and can be found at: http://www.springer.com/materials/mechanics/journal/11071.We present a novel analysis technique to understand the dynamics of a recently described locomotion mode called legless locomotion. Legless locomotion is a locomotion mode available to a legged robot when it becomes high-centered, that is, when its legs do not touch the ground. Under these conditions, the robot may still locomote in the plane by swinging its legs in the air, rocking on its body, and taking advantage of the nonholonomic contact constraints. Legless locomotion is unique from all previously studied locomotion modes, since it combines the effect of oscillations due to controls and gravity, nonholonomic contact constraints, and a configuration-dependent inertia. This complex interaction of phenomena makes dynamics analysis and motion planning difficult, and our proposed analysis technique simplifies the problem by decoupling the robot’s oscillatory rotational dynamics from its contact kinematics and also decoupling the dynamics along each axis. We show that the decoupled dynamics models are significantly simpler, provide a good approximation of the motion, and offer insight into the robot’s dynamics. Finally, we show how the decoupled models help in motion planning for legless locomotion

Topics: Dynamics approximation, Kinematics approximation, Robotic locomotion, Nonholonomic constraints
Publisher: Springer
Year: 2012
DOI identifier: 10.1007/s11071-011-0134-z
OAI identifier: oai:ir.library.oregonstate.edu:1957/34294
Provided by: ScholarsArchive@OSU

Suggested articles



  1. (1994). A Mathematical Introduction to Robotic Manipulation.
  2. (1999). A self-contained and terrain-adaptive active cord mechanism. doi
  3. (1993). Algorithms for steering on the group of rotations.
  4. (1988). An alternative method for manipulator kinetic analysis—the d’Alembert method. doi
  5. (1995). Approximate dynamic decoupling of multilimbed robotic systems. doi
  6. (1998). Classical Dynamics: A Contemporary Approach. doi
  7. (2002). Controllable kinematic reductions for mechanical systems: concepts, computational tools, and examples.
  8. (1983). Development of the generalized d’Alembert equations of motion for mechanical manipulators. doi
  9. (1967). Dynamic force analysis of spatial linkages. doi
  10. (2003). Dynamics modeling and simulation of constrained robotic systems. doi
  11. (1978). Foundations of Mechanics. doi
  12. (2006). Generalized Motion Planning for Underactuated Mechanical Systems. doi
  13. (2004). Geometric Control of Mechanical Systems Modeling, Analysis, and Design for Simple Mechanical Control Systems. doi
  14. (2007). Geometric motion planning analysis for two classes of underactuated mechanical systems. doi
  15. Introduction to Robotics. doi
  16. (2003). Kinematic controllability and motion planning for the snakeboard. doi
  17. (2001). Kinematic controllability for decoupled trajectory planning in underactuated mechanical systems. doi
  18. (2004). Kinematic reduction and planning using symmetry for a variable inertia mechanical system. doi
  19. (2008). Legless locomotion: A novel locomotion technique for legged robots. doi
  20. (2004). Legless locomotion: Models and experimental demonstration. doi
  21. (1995). Linear Control Systems Engineering. Mcgraw-Hill College,
  22. Linearization of manipulator dynamics using spatial operators. doi
  23. (1997). Modular formulation for dynamics of multi-legged robots. doi
  24. (1990). Motion of two rigid bodies with rolling constraint. doi
  25. (1994). Near optimal nonholonomic motion planning for a system of coupled rigid bodies. doi
  26. (2000). Nonholonomic kinematics and dynamics of the sphericle. doi
  27. (1994). Nonholonomic mechanics and locomotion: The snakeboard example. doi
  28. (2000). Nonlinear attitude and shape control of spacecraft with articulated appendages and reaction wheels. doi
  29. (1991). On the nature of control algorithms for free-floating space manipulators. doi
  30. (1980). Online computational scheme for mechanical manipulators. doi
  31. (1998). Oscillations, SE(2)- snakes and motion control: A study of the roller racer. doi
  32. (2000). Robot dynamics: Equations and algorithms. doi
  33. (1998). Robot Motion Planning and Control. doi
  34. (2005). Robotrikke: A novel undulatory locomotion system. doi
  35. (2000). Spherical rolling robot: A design and motion planning studies. doi
  36. (2001). Synchronization: A universal concept in nonlinear sciences. doi
  37. (1988). The kinematics of contact and grasp. doi
  38. The linearized dynamic robot model: Efficient computation and practical applications. doi
  39. (1996). The Mechanics and Control of Undulatory Robotic Locomotion. doi
  40. (1971). The near minimumtime control of open-loop articulated kinematic chains. doi
  41. (2003). The tricept robot: Dynamics and impedance control. doi
  42. (2007). Towards a unified approach to motion planning for dynamic underactuated mechanical systems with non-holonomic constraints. doi

To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.