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http://dx.doi.org/10.9766/KIMST.2014.17.6.853

A Study of Whole Body Kinematic Control for a Rescue Robot  

Hong, Seongil (The 5th Research and Development Institute, Agency for Defense Development)
Lee, Won Suk (The 5th Research and Development Institute, Agency for Defense Development)
Kang, Sin Cheon (The 5th Research and Development Institute, Agency for Defense Development)
Kang, Youn Sik (The 5th Research and Development Institute, Agency for Defense Development)
Park, Yong Woon (The 5th Research and Development Institute, Agency for Defense Development)
Publication Information
Journal of the Korea Institute of Military Science and Technology / v.17, no.6, 2014 , pp. 853-860 More about this Journal
Abstract
This paper introduces a Korean rescue robot and presents a whole body kinematic control strategy. The mission of the rescue robot is to move and lift patients or soldiers with impaired mobility in the battlefields, hospitals and hazardous environments. In order for a robot to rescue and assist humans, reliable mobility in various environments, large load carrying capacity, and dextrous manipulability are required. For these objects the robot has variable configuration mobile platform with tracks, dual arm manipulator, and two types of grippers. The electric actuators provide the strength to lift a wounded soldier up to 120 kg using whole body joints. To control the robot with multi degree of freedom, we need to synthesize complex whole-body behaviors, and to manage multiple task primitives systematically. We are to present a whole body kinematic control methodology, and demonstrate its effectiveness through numerical simulations.
Keywords
Rescue Robot; Task Primitive Priority; Closed Loop Inverse Kinematics; Gradient Projection Method; Whole Body Kinematic Control;
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