A Novel Online Whole-Body Motion Planning Algorithm for Supervisory Control of a Legged Mobile Manipulator

In this paper, a novel online whole-body motion planning algorithm for supervisory control of a legged mobile manipulator (LMM) is presented. The inputs to the proposed algorithm are the updates to the end-effector’s desired position in Cartesian coordinate system, given continuously at a constant f...

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Published inJournal of the Institution of Engineers (India) Series C Vol. 102; no. 3; pp. 563 - 575
Main Authors Bhavanibhatla, Kondalarao, Suresh-Fazeela, Sulthan, Pratihar, Dilip Kumar
Format Journal Article
LanguageEnglish
Published New Delhi Springer India 01.06.2021
Springer Nature B.V
Subjects
Adaptive algorithms
Aerospace Technology and Astronautics
Algorithms
Cartesian coordinates
End effectors
Engineering
Industrial and Production Engineering
Manipulators
Mathematical analysis
Mechanical Engineering
Motion planning
Original Contribution
Robot arms
Supervisory control
Supervisory control
Whole-body motion planning
Online algorithm
Adaptive stroke length
Legged mobile manipulator
Mobile manipulation
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Abstract In this paper, a novel online whole-body motion planning algorithm for supervisory control of a legged mobile manipulator (LMM) is presented. The inputs to the proposed algorithm are the updates to the end-effector’s desired position in Cartesian coordinate system, given continuously at a constant frequency. The algorithm plans the trajectories and calculates the joint space parameters of the LMM in real time and returns all the joint angles continuously, at the same frequency, as the outputs. In the current implementation, the incremental inputs are given to the algorithm using a joystick by the user. To ensure a singularity-free motion of the LMM, the proposed algorithm plans adaptive stroke lengths for the trunk body. The algorithm is designed to be highly modular, so that any necessary improvement to it can be made easily. The proposed algorithm is tested by implementing it on a virtual robot in Gazebo simulation and then, validated on a physical prototype of a hexapod mobile manipulator.
AbstractList In this paper, a novel online whole-body motion planning algorithm for supervisory control of a legged mobile manipulator (LMM) is presented. The inputs to the proposed algorithm are the updates to the end-effector’s desired position in Cartesian coordinate system, given continuously at a constant frequency. The algorithm plans the trajectories and calculates the joint space parameters of the LMM in real time and returns all the joint angles continuously, at the same frequency, as the outputs. In the current implementation, the incremental inputs are given to the algorithm using a joystick by the user. To ensure a singularity-free motion of the LMM, the proposed algorithm plans adaptive stroke lengths for the trunk body. The algorithm is designed to be highly modular, so that any necessary improvement to it can be made easily. The proposed algorithm is tested by implementing it on a virtual robot in Gazebo simulation and then, validated on a physical prototype of a hexapod mobile manipulator.
Author Pratihar, Dilip Kumar
Suresh-Fazeela, Sulthan
Bhavanibhatla, Kondalarao
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10.1109/ICRA.2015.7139830
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10.1109/ROBOT.1995.525550
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Keywords Supervisory control
Whole-body motion planning
Online algorithm
Adaptive stroke length
Legged mobile manipulator
Mobile manipulation
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Snippet In this paper, a novel online whole-body motion planning algorithm for supervisory control of a legged mobile manipulator (LMM) is presented. The inputs to the...
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SubjectTerms Adaptive algorithms
Aerospace Technology and Astronautics
Algorithms
Cartesian coordinates
End effectors
Engineering
Industrial and Production Engineering
Manipulators
Mathematical analysis
Mechanical Engineering
Motion planning
Original Contribution
Robot arms
Supervisory control
Title A Novel Online Whole-Body Motion Planning Algorithm for Supervisory Control of a Legged Mobile Manipulator
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