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Hybrid impedance control for multi-segmented inspection robot Kairo-II

The tremendous redundancy of the multi-segmented robot Kairo-II can be utilized to enhance general robot configuration by any inspection task. To do so, an extensive control scheme must be installed which can handle both, contact scenarios with the environment and ambiguous robot configurations. A method for implementing an appropriate scheme using Transposed Jacobians based on Hybrid Impedance Control (TJ-HIC) is described and validated for multi-segmented robots. Crucial parts of this model are identified and implemented. These are dynamic modeling of the robot in Recursive Newton-Euler equations (RNE) and a sensory system for apropriate force feedback information.