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Conference Paper: Kinematic workspace analyses of a miniature walking robot
| Title | Kinematic workspace analyses of a miniature walking robot |
|---|---|
| Authors | |
| Issue Date | 1999 |
| Citation | IEEE International Conference on Intelligent Robots and Systems, 1999, v. 3, p. 1798-1803 How to Cite? |
| Abstract | A 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 Identifier | http://hdl.handle.net/10722/212710 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Yue, Meng | - |
| dc.contributor.author | Minor, Mark | - |
| dc.contributor.author | Xi, Ning | - |
| dc.contributor.author | Mukherjee, Ranjan | - |
| dc.date.accessioned | 2015-07-28T04:04:46Z | - |
| dc.date.available | 2015-07-28T04:04:46Z | - |
| dc.date.issued | 1999 | - |
| dc.identifier.citation | IEEE International Conference on Intelligent Robots and Systems, 1999, v. 3, p. 1798-1803 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/212710 | - |
| dc.description.abstract | A 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.language | eng | - |
| dc.relation.ispartof | IEEE International Conference on Intelligent Robots and Systems | - |
| dc.title | Kinematic workspace analyses of a miniature walking robot | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.scopus | eid_2-s2.0-0033345465 | - |
| dc.identifier.volume | 3 | - |
| dc.identifier.spage | 1798 | - |
| dc.identifier.epage | 1803 | - |