File Download

There are no files associated with this item.

  Links for fulltext
     (May Require Subscription)
Supplementary

Article: Modeling, control, and motion planning of a climbing microrobot

TitleModeling, control, and motion planning of a climbing microrobot
Authors
Issue Date2004
Citation
Integrated Computer-Aided Engineering, 2004, v. 11, n. 4, p. 289-307 How to Cite?
AbstractThis paper describes the design, modeling, control and motion planning analysis of a climbing microrobot. The microrobot is the smallest of bipedal robot found in the literature which is able to climb walls, walk on ceilings, crawl through pipes, and transit between two inclined planes. The underactuated structure contributes to the small size and light weight of the robot. The kinematic model in different locomotion modes is derived. The DSP-based embedded controller is presented. A hybrid configuration space is proposed to incorporate the continuous configuration space with discrete motion status space. Based on the motion pattern analysis, a motion planning approach is developed to generate an optimal collision-free path and a feasible motion sequence to allow the robot to travel along the path. Experimental and simulation results demonstrate the effective performance of the microrobot system.
Persistent Identifierhttp://hdl.handle.net/10722/212786
ISSN
2015 Impact Factor: 4.981
2015 SCImago Journal Rankings: 0.989

 

DC FieldValueLanguage
dc.contributor.authorXiao, Jizhong-
dc.contributor.authorXiao, Jun-
dc.contributor.authorXi, Ning-
dc.contributor.authorDulimarta, Hans-
dc.contributor.authorTummala, R. L.-
dc.contributor.authorMinor, Mark-
dc.contributor.authorMukherjee, R.-
dc.date.accessioned2015-07-28T04:05:00Z-
dc.date.available2015-07-28T04:05:00Z-
dc.date.issued2004-
dc.identifier.citationIntegrated Computer-Aided Engineering, 2004, v. 11, n. 4, p. 289-307-
dc.identifier.issn1069-2509-
dc.identifier.urihttp://hdl.handle.net/10722/212786-
dc.description.abstractThis paper describes the design, modeling, control and motion planning analysis of a climbing microrobot. The microrobot is the smallest of bipedal robot found in the literature which is able to climb walls, walk on ceilings, crawl through pipes, and transit between two inclined planes. The underactuated structure contributes to the small size and light weight of the robot. The kinematic model in different locomotion modes is derived. The DSP-based embedded controller is presented. A hybrid configuration space is proposed to incorporate the continuous configuration space with discrete motion status space. Based on the motion pattern analysis, a motion planning approach is developed to generate an optimal collision-free path and a feasible motion sequence to allow the robot to travel along the path. Experimental and simulation results demonstrate the effective performance of the microrobot system.-
dc.languageeng-
dc.relation.ispartofIntegrated Computer-Aided Engineering-
dc.titleModeling, control, and motion planning of a climbing microrobot-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-10044262137-
dc.identifier.volume11-
dc.identifier.issue4-
dc.identifier.spage289-
dc.identifier.epage307-

Export via OAI-PMH Interface in XML Formats


OR


Export to Other Non-XML Formats