NDLI: Inverse kinematics analysis of multi-legged walking robots based on hand-foot-integration mechanism

Content Provider	IEEE Xplore Digital Library
Author	Xinjie Wang Liangwen Wang Chunmei Pan Yuxiao Zhang Weigang Tang Xiaohui Zhang
Copyright Year	2010
Description	Author affiliation: Department of Electromechanical Science and Engineering, Zhengzhou University of Light Industry, Henan, 450002, China (Xinjie Wang; Liangwen Wang; Chunmei Pan; Yuxiao Zhang; Weigang Tang; Xiaohui Zhang)
Abstract	Development of integrated hand-foot function is the inevitable choice for the practical application of multi-legged robots. In this paper, a new type of robot which has the structure of multi-legged walking robot based on hand-foot-integration is introduced. Kinematics relations between walking and grasping states of robot are described. The inverse kinematic is analysed in details. Firstly, the parameters expression of standing state of robot is derived from the constrain of the robot structure. Secondly, the kinematics relation of serial manipulator with grasping function is researched. Finally, the inverse kinematics of robot in grasping object is obtained. The relevant formula is deduced in this paper, and the formula expression is given. The analysis process is last verified through a numerical example. The model can be used for motion control of robot.
Starting Page	1184
Ending Page	1189
File Size	128978
Page Count	6
File Format	PDF
ISBN	9781424451401
ISSN	2152744X
DOI	10.1109/ICMA.2010.5587954
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-08-04
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Joints Robot kinematics Leg Bismuth Kinematics inverse kinematics calculation multi-legged walking robot integrated hand-foot
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Mechanism configuration design of multi-legged walking robots based on hand-foot-integrated function

Error analysis of multi-legged walking robots based on forward kinematics

Error Analysis Modeling of Multi-legged Walking Robots

Velocity workspace analysis for multi-legged walking robots

Centroid-based analysis of quadruped-robot walking balance

Slope-walking of a biped robot with position and orientation based inverse kinematics method

The DLR-Crawler: A testbed for actively compliant hexapod walking based on the fingers of DLR-Hand II

Forward and Inverse Kinematics for a Small-Sized Humanoid Robot

Design of convex foot for efficient dynamic bipedal walking

Inverse kinematics analysis of multi-legged walking robots based on hand-foot-integration mechanism

Similar Documents

Mechanism configuration design of multi-legged walking robots based on hand-foot-integrated function

Error analysis of multi-legged walking robots based on forward kinematics

Error Analysis Modeling of Multi-legged Walking Robots

Velocity workspace analysis for multi-legged walking robots

Centroid-based analysis of quadruped-robot walking balance

Slope-walking of a biped robot with position and orientation based inverse kinematics method

The DLR-Crawler: A testbed for actively compliant hexapod walking based on the fingers of DLR-Hand II

Forward and Inverse Kinematics for a Small-Sized Humanoid Robot

Design of convex foot for efficient dynamic bipedal walking

Inverse kinematics analysis of multi-legged walking robots based on hand-foot-integration mechanism