A coordinated Jacobian transpose control for mobile multi-limbed robotic systems

This analytic and experimental study proposes a control algorithm based on Jacobian control for coordinated position and force control for autonomous multi-limbed mobile robotic systems. The technique is called coordinated Jacobian transpose control, or CJTC. Such position/force control algorithms will be required if future robotic systems are to operate effectively in unstructured environments. Generalized control variables, GCV´s, express in a consistent and coordinated manner the desired behavior of the forces exerted by the multi-limbed robot on the environment and a system´s motions. The effectiveness of this algorithm is demonstrated in simulation and laboratory experiments on a climbing system