The paper develops a unified kinematics modeling, optimization and control that is applicable to a wide range of autonomous and non-autonomous robots. These include hybrid robots that combine two or more modes of operations, such as combination of walking and rolling, or rolling and manipulation, as well as parallel robots in various configurations. The equations of motion are derived in compact forms that embed an optimization criterion. These equations are used to obtain various useful forms of the robot kinematics such as recursive, body and limb-end kinematic forms. Using the modeling, actuation and control equations are derived that ensure traversing a desired path while maintaining balanced operations and tip-over avoidance. Various simulation results are provided for a hybrid rolling-walking robot, which demonstrate the capabilities and effectiveness of the developed methodologies.

中文翻译：

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通用机器人的统一运动学建模，优化和控制：从串行和并行机械手到步行，滚动和混合机器人

本文开发了适用于广泛的自主和非自主机器人的统一运动学建模，优化和控制。其中包括将两种或多种操作模式（例如步行和滚动或滚动和操纵的组合）组合在一起的混合机器人，以及各种配置的并行机器人。运动方程以嵌入优化准则的紧凑形式导出。这些方程式用于获得机器人运动学的各种有用形式，例如递归，身体和肢端运动形式。使用该模型，可以得出致动和控制方程，这些方程可确保在保持平衡的操作和避免翻倒的情况下遍历所需路径。为混合式滚动行走机器人提供了各种模拟结果，