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Conference Paper: Dynamic workspace analysis and motion planning for a micro biped walking robot

TitleDynamic workspace analysis and motion planning for a micro biped walking robot
Authors
Issue Date2000
Citation
IEEE International Conference on Intelligent Robots and Systems, 2000, v. 3, p. 1900-1905 How to Cite?
AbstractThe dynamic workspace and the motion plans for a micro biped walking robot are studied in this paper. The dynamic model and controller of under-actuated walking robot system are developed. Two optimal navigation algorithms for the motion of the robot in the same plane without obstacles are developed, and optimality is proved. The motion of the robot is divided into normal motion status and transition status. The complete scheme to perform the two status and this real time implementation are presented. The dynamic simulation results and 2D-rendering of the robot navigation is given.
Persistent Identifierhttp://hdl.handle.net/10722/212720

 

DC FieldValueLanguage
dc.contributor.authorYue, M.-
dc.contributor.authorXi, N.-
dc.contributor.authorMinor, M.-
dc.contributor.authorMukherjee, R.-
dc.date.accessioned2015-07-28T04:04:48Z-
dc.date.available2015-07-28T04:04:48Z-
dc.date.issued2000-
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems, 2000, v. 3, p. 1900-1905-
dc.identifier.urihttp://hdl.handle.net/10722/212720-
dc.description.abstractThe dynamic workspace and the motion plans for a micro biped walking robot are studied in this paper. The dynamic model and controller of under-actuated walking robot system are developed. Two optimal navigation algorithms for the motion of the robot in the same plane without obstacles are developed, and optimality is proved. The motion of the robot is divided into normal motion status and transition status. The complete scheme to perform the two status and this real time implementation are presented. The dynamic simulation results and 2D-rendering of the robot navigation is given.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems-
dc.titleDynamic workspace analysis and motion planning for a micro biped walking robot-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0034446281-
dc.identifier.volume3-
dc.identifier.spage1900-
dc.identifier.epage1905-

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