Abstract
A new hardware design for a rescue robot is proposed to enhance manipulation capability and mobility performance in an unstructured environment. The implementation of fast hierarchical inverse kinematics as a practical means of hard-real-time motion planning for a humanoid rescue robot is also considered. To achieve online full body dexterous manipulation performance, a hierarchical task priority is established among the motion tasks (or primitives) to precisely resolve task conflicts. Full body inverse kinematic solutions are derived in the recursive form by exploiting the previously calculated result of the higher priority task. This allows the current level step solution to be obtained for the lower priority motion task, enhancing computational efficiency. The least-squares optimization formulation provides theoretical and practical solutions in a unified and consistent manner. Realistic numerical simulations to generate complex full body motions in hard real-time demonstrate the effectiveness and performance of the design. Inverse kinematic solutions are found within 0.2 msec and 0.4 msec (on average) for 13 and 19 degrees of freedom control, respectively.
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