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Conference Paper: Modeling and control of an under-actuated miniature crawler robot

TitleModeling and control of an under-actuated miniature crawler robot
Authors
Issue Date2001
Citation
IEEE International Conference on Intelligent Robots and Systems, 2001, v. 3, p. 1546-1551 How to Cite?
AbstractThis paper presents modeling and control of our second generation prototype miniature crawler robot which was targeted to applications in constrained environments. The mechanical design and the drive mechanism of the robot are first discussed. A kinematic model is then derived and the motion planning is analyzed. A description of the Texas Instrument DSP-based embedded controller is presented next. Experimental results are finally presented for evaluation of robot performance.
Persistent Identifierhttp://hdl.handle.net/10722/212738

 

DC FieldValueLanguage
dc.contributor.authorXiao, Jizhong-
dc.contributor.authorMinor, Mark-
dc.contributor.authorDulimarta, Hans-
dc.contributor.authorXi, Ning-
dc.contributor.authorMukherjee, R.-
dc.contributor.authorTummala, R. L.-
dc.date.accessioned2015-07-28T04:04:51Z-
dc.date.available2015-07-28T04:04:51Z-
dc.date.issued2001-
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems, 2001, v. 3, p. 1546-1551-
dc.identifier.urihttp://hdl.handle.net/10722/212738-
dc.description.abstractThis paper presents modeling and control of our second generation prototype miniature crawler robot which was targeted to applications in constrained environments. The mechanical design and the drive mechanism of the robot are first discussed. A kinematic model is then derived and the motion planning is analyzed. A description of the Texas Instrument DSP-based embedded controller is presented next. Experimental results are finally presented for evaluation of robot performance.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems-
dc.titleModeling and control of an under-actuated miniature crawler robot-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0035559678-
dc.identifier.volume3-
dc.identifier.spage1546-
dc.identifier.epage1551-

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