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Conference Paper: Kinematic workspace analyses of a miniature walking robot

TitleKinematic workspace analyses of a miniature walking robot
Authors
Issue Date1999
Citation
IEEE International Conference on Intelligent Robots and Systems, 1999, v. 3, p. 1798-1803 How to Cite?
AbstractA team of interdisciplinary researchers are involved in the development of a miniature biped robot that can traverse flat inclined surfaces such as walls and ceilings. Unlike conventional biped robots, only limited degrees-of-freedom are available in the design. Thus the kinematics and workspace analyses become important for motion planning and control. This paper briefly discusses the mechanical structure and drive mechanism of the miniature robot. The kinematic model of the robot is then developed, and its workspace is analyzed in detail. Simulation results of the robot motion are also presented.
Persistent Identifierhttp://hdl.handle.net/10722/212710

 

DC FieldValueLanguage
dc.contributor.authorYue, Meng-
dc.contributor.authorMinor, Mark-
dc.contributor.authorXi, Ning-
dc.contributor.authorMukherjee, Ranjan-
dc.date.accessioned2015-07-28T04:04:46Z-
dc.date.available2015-07-28T04:04:46Z-
dc.date.issued1999-
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems, 1999, v. 3, p. 1798-1803-
dc.identifier.urihttp://hdl.handle.net/10722/212710-
dc.description.abstractA team of interdisciplinary researchers are involved in the development of a miniature biped robot that can traverse flat inclined surfaces such as walls and ceilings. Unlike conventional biped robots, only limited degrees-of-freedom are available in the design. Thus the kinematics and workspace analyses become important for motion planning and control. This paper briefly discusses the mechanical structure and drive mechanism of the miniature robot. The kinematic model of the robot is then developed, and its workspace is analyzed in detail. Simulation results of the robot motion are also presented.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems-
dc.titleKinematic workspace analyses of a miniature walking robot-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0033345465-
dc.identifier.volume3-
dc.identifier.spage1798-
dc.identifier.epage1803-

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