A modular approach to the dynamics of complex multirobot systems

Clifford S. Bonaventura, Kathryn W. Jablokow

Research output: Contribution to journalArticle

11 Citations (Scopus)

Abstract

This paper presents a modular approach for the dynamic modeling and efficient simulation of complex robot systems composed of multiple robots constrained by multiple concurrent contacts. The modular nature of the algorithm enables existing open-chain models for individual robots and other mechanisms to be incorporated without significant reprogramming, while a general contact model allows both holonomic and nonholonomic constraints in the system. An example is provided to illustrate the algorithm's modularity and demonstrate its application. In addition to the development of the dynamic equations, this paper will discuss the implementation of the simulation algorithm in detail, including issues of computational complexity.

Original languageEnglish (US)
Pages (from-to)26-37
Number of pages12
JournalIEEE Transactions on Robotics
Volume21
Issue number1
DOIs
StatePublished - Feb 1 2005

Fingerprint

Large scale systems
Robots
Computational complexity

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

@article{9a98a95418384896bb4c061b596e02ce,
title = "A modular approach to the dynamics of complex multirobot systems",
abstract = "This paper presents a modular approach for the dynamic modeling and efficient simulation of complex robot systems composed of multiple robots constrained by multiple concurrent contacts. The modular nature of the algorithm enables existing open-chain models for individual robots and other mechanisms to be incorporated without significant reprogramming, while a general contact model allows both holonomic and nonholonomic constraints in the system. An example is provided to illustrate the algorithm's modularity and demonstrate its application. In addition to the development of the dynamic equations, this paper will discuss the implementation of the simulation algorithm in detail, including issues of computational complexity.",
author = "Bonaventura, {Clifford S.} and Jablokow, {Kathryn W.}",
year = "2005",
month = "2",
day = "1",
doi = "10.1109/TRO.2004.833809",
language = "English (US)",
volume = "21",
pages = "26--37",
journal = "IEEE Transactions on Robotics",
issn = "1552-3098",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "1",

}

A modular approach to the dynamics of complex multirobot systems. / Bonaventura, Clifford S.; Jablokow, Kathryn W.

In: IEEE Transactions on Robotics, Vol. 21, No. 1, 01.02.2005, p. 26-37.

Research output: Contribution to journalArticle

TY - JOUR

T1 - A modular approach to the dynamics of complex multirobot systems

AU - Bonaventura, Clifford S.

AU - Jablokow, Kathryn W.

PY - 2005/2/1

Y1 - 2005/2/1

N2 - This paper presents a modular approach for the dynamic modeling and efficient simulation of complex robot systems composed of multiple robots constrained by multiple concurrent contacts. The modular nature of the algorithm enables existing open-chain models for individual robots and other mechanisms to be incorporated without significant reprogramming, while a general contact model allows both holonomic and nonholonomic constraints in the system. An example is provided to illustrate the algorithm's modularity and demonstrate its application. In addition to the development of the dynamic equations, this paper will discuss the implementation of the simulation algorithm in detail, including issues of computational complexity.

AB - This paper presents a modular approach for the dynamic modeling and efficient simulation of complex robot systems composed of multiple robots constrained by multiple concurrent contacts. The modular nature of the algorithm enables existing open-chain models for individual robots and other mechanisms to be incorporated without significant reprogramming, while a general contact model allows both holonomic and nonholonomic constraints in the system. An example is provided to illustrate the algorithm's modularity and demonstrate its application. In addition to the development of the dynamic equations, this paper will discuss the implementation of the simulation algorithm in detail, including issues of computational complexity.

UR - http://www.scopus.com/inward/record.url?scp=14044277520&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=14044277520&partnerID=8YFLogxK

U2 - 10.1109/TRO.2004.833809

DO - 10.1109/TRO.2004.833809

M3 - Article

AN - SCOPUS:14044277520

VL - 21

SP - 26

EP - 37

JO - IEEE Transactions on Robotics

JF - IEEE Transactions on Robotics

SN - 1552-3098

IS - 1

ER -