Whole-body motion control for a rescue robot using robust task-priority based CLIK

摘要

This paper introduces a rescue robot to extract a casualty from hazardous environment and suggests a specific whole-body behavior strategy suitable for the rescue mission taking into account the characteristics of the robot configuration. Since the robot has redundant degrees of freedom, a task-priority based CLIK as differential inverse kinematics approach is adopted for real-time implementation and the redundant domain is utilized to reflect some restrictions in terms of safety and stability of the robot. When multiple tasks with different priority are handled simultaneously by the CLIK, a well-known Algorithmic Singularity problem could be taken place. For this issue, hence, this study applies a robust algorithm against the algorithmic singularity as well as the kinematic singularity and its applicability is verified through a real experiment using a small-scaled simulator instead of the developing rescue-robot.