A Study of Whole Body Kinematic Control for a Rescue Robot

Hong, Seongil; Lee, Won Suk; Kang, Sin Cheon; Kang, Youn Sik; Park, Yong Woon

doi:2014.17.6.853

J. KIMS Technol > Volume 17(6); 2014 > Article

Journal of the Korea Institute of Military Science and Technology 2014;17(6):853-860.
DOI: https://doi.org/10.9766/KIMST.2014.17.6.853

A Study of Whole Body Kinematic Control for a Rescue Robot

Seongil Hong, Won Suk Lee, Sin Cheon Kang, Youn Sik Kang, Yong Woon Park

The 5th Research and Development Institute, Agency for Defense Development

구난로봇을 위한 전신 기구학 제어 연구

홍성일, 이원석, 강신천, 강윤식, 박용운

국방과학연구소 제5기술연구본부

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.

Key Words: Rescue Robot, Task Primitive Priority, Closed Loop Inverse Kinematics, Gradient Projection Method, Whole Body Kinematic Control