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Conference Paper: Dynamic workspace analysis and motion planning for a micro biped walking robot
| Title | Dynamic workspace analysis and motion planning for a micro biped walking robot |
|---|---|
| Authors | |
| Issue Date | 2000 |
| Citation | IEEE International Conference on Intelligent Robots and Systems, 2000, v. 3, p. 1900-1905 How to Cite? |
| Abstract | The 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 Identifier | http://hdl.handle.net/10722/212720 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Yue, M. | - |
| dc.contributor.author | Xi, N. | - |
| dc.contributor.author | Minor, M. | - |
| dc.contributor.author | Mukherjee, R. | - |
| dc.date.accessioned | 2015-07-28T04:04:48Z | - |
| dc.date.available | 2015-07-28T04:04:48Z | - |
| dc.date.issued | 2000 | - |
| dc.identifier.citation | IEEE International Conference on Intelligent Robots and Systems, 2000, v. 3, p. 1900-1905 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/212720 | - |
| dc.description.abstract | The 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.language | eng | - |
| dc.relation.ispartof | IEEE International Conference on Intelligent Robots and Systems | - |
| dc.title | Dynamic workspace analysis and motion planning for a micro biped walking robot | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.scopus | eid_2-s2.0-0034446281 | - |
| dc.identifier.volume | 3 | - |
| dc.identifier.spage | 1900 | - |
| dc.identifier.epage | 1905 | - |