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Foundations of Robotics
Seminar, April 26, 2006
Time
and Place | Seminar Abstract | Speaker
Biography | Presentation Slides | Speaker
Appointments
Methodology for Design
and Analysis of Physically Cooperating Mobile Robots
Ashish D Deshpande
Newell Simon Hall 1507
Refreshments 4:45 pm
Talk 5:00 pm
A team of small, low-cost robots instead of
a single large, complex robot is useful in operations such as search and rescue,
urban exploration etc. However, the performance of such a team is limited due
to the restricted mobility of the team members. The first part of my talk will
present the results obtained toward the goal of enhancing mobility of a team of
mobile robots by physical cooperation among the robots. We have carried out
static as well as dynamic analysis of cooperating mobile robot system and
developed 2-robot hardware to demonstrate cooperative behaviors.
There is a need to develop a methodology to design and analyze cooperative
maneuvers involving multiple mobile robots. The second part of my talk will
present our efforts toward the development of such a methodology. Our approach
is to treat the linked mobile robots as a multiple degree-of-freedom object, comprising
an articulated open kinematic chain, which is being manipulated by pseudo
robots (p-robots) at the ground interaction points. Such rearrangement of the
problem facilitates the adaptation of ideas from the cooperative manipulation
literature. We present the new methodology by carrying out static as well as
dynamic analysis for a 2-robot cooperation case with the new methodology. Also,
we have demonstrated that introduction of redundant actuation, by an additional
(third) robot, can help in improving the friction requirements. We also present
our ideas for employing this newly designed methodology to analyze other
interesting multi-body robotic systems.
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Bio |
Ashish Deshpande is a doctoral candidate
under Dr. Jonathan Luntz in the Mechanical Engineering Dept. at the University
of Michigan, Ann Arbor. His areas of interest include mobile robotics,
multi-body dynamics, controls and engineering design. Ashish has recived B.E.
from VNIT, Nagpur, India in 1999 and M.S. from the University of Massachusetts,
Amherst in 2002.
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Speaker Appointments |
For appointments, please contact Howie
Choset (choset@cs.cmu.edu)
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.