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Kinematic Analysis of a Legged Walking Robot Based on Four-bar Linkage and Jansen Mechanism
| Content Provider | Semantic Scholar |
|---|---|
| Author | Kim, Sun-Wook Kim, Dong Hun |
| Copyright Year | 2011 |
| Abstract | In this study, a crab robot is implemented in H/W based on four-bar linkage mechanism and Jansen mechanism, and its kinematics is analysed. A vision camera is attached to the mechanism, which makes the proposed robot a kind of biologically inspired robot for image acquisition. Three ultrasonic sensors are adopted for obstacle avoidance. In addition, the biologically inspired robot can achieve the mission appointed by a programmer outside, based on RF and Blue-tooth communication module. For the design and implementation of a crab robot, it is need to get joint variable, a foot point, and their relation. Thus, the proposed kinematic analysis is very important process for the design and implementation of legged robots. |
| Starting Page | 159 |
| Ending Page | 164 |
| Page Count | 6 |
| File Format | PDF HTM / HTML |
| DOI | 10.5391/JKIIS.2011.21.2.159 |
| Volume Number | 21 |
| Alternate Webpage(s) | http://ocean.kisti.re.kr/downfile/volume/kfis/PJJNBT/2011/v21n2/PJJNBT_2011_v21n2_159.pdf |
| Alternate Webpage(s) | https://doi.org/10.5391/JKIIS.2011.21.2.159 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
