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Article: System design and application of a miniature climbing robot

TitleSystem design and application of a miniature climbing robot
Authors
KeywordsMotion planning
Finite state machine
Communication
Climbing robot
PID control
Issue Date2007
Citation
Dongbei Daxue Xuebao/Journal of Northeastern University, 2007, v. 28, n. 10, p. 1442-1445 How to Cite?
AbstractA control system based on DSP2812 was designed for a new miniature bipedal climbing robot, adopting the bipedal suction feet and an under-actuated mechanism with three motors to drive five joints. The suction feet make the robot available to climb on a smooth plane or ceiling and transit the passage between two inclined surfaces. The under-actuated mechanism can reduce the number of motors required hence the robot size/weight and power consumption. However, it imposes challenges on robot control and motion planning. The motion mode, joint control, communication module and suction cup foot control have all been designed, and the experimental results have verified the validity of the design scheme proposed.
Persistent Identifierhttp://hdl.handle.net/10722/212944
ISSN
2015 SCImago Journal Rankings: 0.156

 

DC FieldValueLanguage
dc.contributor.authorXiao, Jun-
dc.contributor.authorJia, Ning Yu-
dc.contributor.authorWang, Hong Guang-
dc.contributor.authorXi, Ning-
dc.date.accessioned2015-07-28T04:05:31Z-
dc.date.available2015-07-28T04:05:31Z-
dc.date.issued2007-
dc.identifier.citationDongbei Daxue Xuebao/Journal of Northeastern University, 2007, v. 28, n. 10, p. 1442-1445-
dc.identifier.issn1005-3026-
dc.identifier.urihttp://hdl.handle.net/10722/212944-
dc.description.abstractA control system based on DSP2812 was designed for a new miniature bipedal climbing robot, adopting the bipedal suction feet and an under-actuated mechanism with three motors to drive five joints. The suction feet make the robot available to climb on a smooth plane or ceiling and transit the passage between two inclined surfaces. The under-actuated mechanism can reduce the number of motors required hence the robot size/weight and power consumption. However, it imposes challenges on robot control and motion planning. The motion mode, joint control, communication module and suction cup foot control have all been designed, and the experimental results have verified the validity of the design scheme proposed.-
dc.languageeng-
dc.relation.ispartofDongbei Daxue Xuebao/Journal of Northeastern University-
dc.subjectMotion planning-
dc.subjectFinite state machine-
dc.subjectCommunication-
dc.subjectClimbing robot-
dc.subjectPID control-
dc.titleSystem design and application of a miniature climbing robot-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-35948986363-
dc.identifier.volume28-
dc.identifier.issue10-
dc.identifier.spage1442-
dc.identifier.epage1445-

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