System and method for controlling modular robots
First Claim
1. A method of controlling motion of a robot system wherein the robot system includes a plurality of individual wheeled robot modules interconnected by at least one partially compliant member, the method comprising:
- developing at least one scalable kinematic model corresponding to one of the plurality of individual wheeled robot modules;
deriving a system kinematic model of the robot system based on a combination of the at least one scalable kinematic model and stiffness properties of the at least one partially compliant member; and
steering the robot system by dynamically controlling torque applied to wheels on the plurality of wheeled robots to bend the at least one partially compliant member in a desired direction based on dynamic changes in the system kinematic model that occur as the at least one partially compliant member flexes wherein the plurality of individual wheeled robot modules are under control of an electronics system using the system kinematic model.
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Abstract
Techniques are described for control of a robot system, wherein the robot system includes a plurality of individual wheeled robot modules interconnected by at least one compliant member. The technique includes developing a kinematic control model of the robot system from a combination of the kinematic characteristics of the individual wheeled robot modules and the stiffness properties of the compliant member. Development of the kinematic control model for a reconfigurable robot system is enhanced by the scalable nature of the technique.
39 Citations
14 Claims
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1. A method of controlling motion of a robot system wherein the robot system includes a plurality of individual wheeled robot modules interconnected by at least one partially compliant member, the method comprising:
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developing at least one scalable kinematic model corresponding to one of the plurality of individual wheeled robot modules; deriving a system kinematic model of the robot system based on a combination of the at least one scalable kinematic model and stiffness properties of the at least one partially compliant member; and steering the robot system by dynamically controlling torque applied to wheels on the plurality of wheeled robots to bend the at least one partially compliant member in a desired direction based on dynamic changes in the system kinematic model that occur as the at least one partially compliant member flexes wherein the plurality of individual wheeled robot modules are under control of an electronics system using the system kinematic model. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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- 10. A method of controlling motion of a robot system wherein the robot system includes a plurality of individual wheeled robot modules interconnected by at least one partially compliant member, the method comprising developing a kinematic model of the robot system for steering the robot system by dynamically controlling torque applied to wheels on the plurality of individual wheeled robot modules to flex the at least one partially compliant member in a desired direction based on dynamic changes in the system kinematic model, the method being implemented within an electronics system.
Specification