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Conference Paper: Modeling and control of an under-actuated miniature crawler robot
| Title | Modeling and control of an under-actuated miniature crawler robot |
|---|---|
| Authors | |
| Issue Date | 2001 |
| Citation | IEEE International Conference on Intelligent Robots and Systems, 2001, v. 3, p. 1546-1551 How to Cite? |
| Abstract | This 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 Identifier | http://hdl.handle.net/10722/212738 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Xiao, Jizhong | - |
| dc.contributor.author | Minor, Mark | - |
| dc.contributor.author | Dulimarta, Hans | - |
| dc.contributor.author | Xi, Ning | - |
| dc.contributor.author | Mukherjee, R. | - |
| dc.contributor.author | Tummala, R. L. | - |
| dc.date.accessioned | 2015-07-28T04:04:51Z | - |
| dc.date.available | 2015-07-28T04:04:51Z | - |
| dc.date.issued | 2001 | - |
| dc.identifier.citation | IEEE International Conference on Intelligent Robots and Systems, 2001, v. 3, p. 1546-1551 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/212738 | - |
| dc.description.abstract | This 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.language | eng | - |
| dc.relation.ispartof | IEEE International Conference on Intelligent Robots and Systems | - |
| dc.title | Modeling and control of an under-actuated miniature crawler robot | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.scopus | eid_2-s2.0-0035559678 | - |
| dc.identifier.volume | 3 | - |
| dc.identifier.spage | 1546 | - |
| dc.identifier.epage | 1551 | - |