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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Meng Yue Mark Minor Ning Xi Mukherjee, R. |
| Copyright Year | 1999 |
| Description | Author affiliation: Michigan State Univ., East Lansing, MI, USA (Meng Yue) |
| Abstract | A team of interdisciplinary researchers are involved in the development of a miniature biped robot that can traverse flat inclined surfaces such as walls and ceilings (R.L. Tummala et al., 1999). Unlike conventional biped robots, only limited degrees-of-freedom are available in the design. Thus the kinematics and workspace analyses become important for motion planning and control. The paper briefly discusses the mechanical structure and drive mechanism of the miniature robot. The kinematic model of the robot is then developed, and its workspace is analyzed in detail. Simulation results of the robot motion are also presented. |
| Starting Page | 1798 |
| Ending Page | 1803 |
| File Size | 457471 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780351843 |
| DOI | 10.1109/IROS.1999.811739 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1999-10-17 |
| Publisher Place | South Korea |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Legged locomotion Kinematics Motion planning Motion control Force control Actuators Robot motion Collision mitigation Leg Robot control |
| Content Type | Text |
| Resource Type | Article |
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