Dynamic modeling and motion planning for marionettes: Rigid bodies articulated by massless strings

Elliot Johnson*, Todd D. Murphey

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

22 Scopus citations

Abstract

We consider the problem of modeling a robotic marionette. Marionettes are highly under-actuated systems that can only be controlled remotely by moving strings. We present a mixed dynamic-kinematic modeling technique that removes the controller dynamics from the marionette, resulting in a clean abstraction that represents the dynamics of the marionette in a natural way. As an example, a model is derived for a single arm moving in a plane. A model for a three-dimensional marionettes is also shown. Finally, an expansive-space tree (EST) motion planner is used to find a path from an input configuration to a goal for a puppet arm with seven degrees of freedom.

Original languageEnglish (US)
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages330-335
Number of pages6
DOIs
StatePublished - Nov 27 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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