Publication
Modular algorithms for kinematics and dynamics of series-parallel hybrid robots
Shivesh Kumar; Rohit Kumar; Andreas Müller; Frank Kirchner
In: Shivesh Kumar; Andreas Müller; Frank Kirchner. Biologically Inspired Series-Parallel Hybrid Robots. Chapter 7, Pages 145-177, Vol. 514, ISBN 978-0-323-88482-2, Elsevier, 11/2024.
Abstract
This chapter introduces a modular framework for computing the kinematics and dynamics of hybrid robots composed of serial and parallel submechanism modules. It integrates explicit loop closure constraints (resolved either analytically or numerically) and their derivatives into analytical forward and inverse dynamics algorithms in minimal coordinates. This method leverages efficient and recursive O(n) dynamics algorithms for tree-type systems, ensuring results free from numerical errors and singularities arising from redundant constraints. The framework underpins the Hybrid Robot Dynamics (HyRoDyn) software and is illustrated with an example of a series-parallel hybrid humanoid robot developed at DFKI-RIC.