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Singularity-free planning for a robot cat free-fall with control delay: Role of limbs and tail

Research output: Chapter in Book/Report/Conference proceedingOther chapter contribution

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Singularity-free planning for a robot cat free-fall with control delay : Role of limbs and tail. / Sadati, S. M.Hadi; Meghdari, Ali.

2017 8th International Conference on Mechanical and Aerospace Engineering, ICMAE 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 215-221 8038645.

Research output: Chapter in Book/Report/Conference proceedingOther chapter contribution

Harvard

Sadati, SMH & Meghdari, A 2017, Singularity-free planning for a robot cat free-fall with control delay: Role of limbs and tail. in 2017 8th International Conference on Mechanical and Aerospace Engineering, ICMAE 2017., 8038645, Institute of Electrical and Electronics Engineers Inc., pp. 215-221, 8th International Conference on Mechanical and Aerospace Engineering, ICMAE 2017, Prague, Czech Republic, 22/07/2017. https://doi.org/10.1109/ICMAE.2017.8038645

APA

Sadati, S. M. H., & Meghdari, A. (2017). Singularity-free planning for a robot cat free-fall with control delay: Role of limbs and tail. In 2017 8th International Conference on Mechanical and Aerospace Engineering, ICMAE 2017 (pp. 215-221). [8038645] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMAE.2017.8038645

Vancouver

Sadati SMH, Meghdari A. Singularity-free planning for a robot cat free-fall with control delay: Role of limbs and tail. In 2017 8th International Conference on Mechanical and Aerospace Engineering, ICMAE 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 215-221. 8038645 https://doi.org/10.1109/ICMAE.2017.8038645

Author

Sadati, S. M.Hadi ; Meghdari, Ali. / Singularity-free planning for a robot cat free-fall with control delay : Role of limbs and tail. 2017 8th International Conference on Mechanical and Aerospace Engineering, ICMAE 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 215-221

Bibtex Download

@inbook{7bb3481b6fe341528262600905c66418,
title = "Singularity-free planning for a robot cat free-fall with control delay: Role of limbs and tail",
abstract = "Cat free fall righting maneuverer has inspired many aerial, space and legged robotic research. Conservation of angular momentum principle is used to derive the inverse differential kinematic and TMT vector form dynamics of the motion for three robotic models: a two-link model, a three-link model with tail, and a comprehensive eight-link model with the addition of legs. The path planning problem in the presence of geometric and kinematic constraints is addressed using a novel singularity free single shooting optimization method. While a 2 DOF torso is sufficient to perform a full maneuver, the addition of the tail reduces the time and increases the maneuverability despite the leg motions that has adverse effects. The method performance is investigated numerically and a simulation in MSC.ADAMS software is used to verify the results. The structural parameters are optimized showing the significant advantageous of a light and symmetric body shape. A prototype will be fabricated based on these results in near future.",
keywords = "Cat fall, control delay, differential kinematics, optimization, planning, singularity",
author = "Sadati, {S. M.Hadi} and Ali Meghdari",
year = "2017",
month = "9",
day = "14",
doi = "10.1109/ICMAE.2017.8038645",
language = "English",
isbn = "9781538633052",
pages = "215--221",
booktitle = "2017 8th International Conference on Mechanical and Aerospace Engineering, ICMAE 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

RIS (suitable for import to EndNote) Download

TY - CHAP

T1 - Singularity-free planning for a robot cat free-fall with control delay

T2 - Role of limbs and tail

AU - Sadati, S. M.Hadi

AU - Meghdari, Ali

PY - 2017/9/14

Y1 - 2017/9/14

N2 - Cat free fall righting maneuverer has inspired many aerial, space and legged robotic research. Conservation of angular momentum principle is used to derive the inverse differential kinematic and TMT vector form dynamics of the motion for three robotic models: a two-link model, a three-link model with tail, and a comprehensive eight-link model with the addition of legs. The path planning problem in the presence of geometric and kinematic constraints is addressed using a novel singularity free single shooting optimization method. While a 2 DOF torso is sufficient to perform a full maneuver, the addition of the tail reduces the time and increases the maneuverability despite the leg motions that has adverse effects. The method performance is investigated numerically and a simulation in MSC.ADAMS software is used to verify the results. The structural parameters are optimized showing the significant advantageous of a light and symmetric body shape. A prototype will be fabricated based on these results in near future.

AB - Cat free fall righting maneuverer has inspired many aerial, space and legged robotic research. Conservation of angular momentum principle is used to derive the inverse differential kinematic and TMT vector form dynamics of the motion for three robotic models: a two-link model, a three-link model with tail, and a comprehensive eight-link model with the addition of legs. The path planning problem in the presence of geometric and kinematic constraints is addressed using a novel singularity free single shooting optimization method. While a 2 DOF torso is sufficient to perform a full maneuver, the addition of the tail reduces the time and increases the maneuverability despite the leg motions that has adverse effects. The method performance is investigated numerically and a simulation in MSC.ADAMS software is used to verify the results. The structural parameters are optimized showing the significant advantageous of a light and symmetric body shape. A prototype will be fabricated based on these results in near future.

KW - Cat fall

KW - control delay

KW - differential kinematics

KW - optimization

KW - planning

KW - singularity

UR - http://www.scopus.com/inward/record.url?scp=85032355096&partnerID=8YFLogxK

U2 - 10.1109/ICMAE.2017.8038645

DO - 10.1109/ICMAE.2017.8038645

M3 - Other chapter contribution

AN - SCOPUS:85032355096

SN - 9781538633052

SP - 215

EP - 221

BT - 2017 8th International Conference on Mechanical and Aerospace Engineering, ICMAE 2017

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

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