zur Startseite der DMG-Lib
Home  · Übersicht  · Kontakt  ·

Erweiterte Suche   Mechanismensuche

Robot-Crawler: Statically Balanced Gaits : Robot a cingoli: passi staticamente bilanciati, in: International Journal of Advanced Robotic Systems

thumbnail
Dokument öffnen (benötigt JavaScript)   Documenti accessibili

Informazioni generali

Autore Parasuraman, S.; Hang, F. J.; Khan, M. K. A. Ahamed
Pubblicato  InTech Open Access Publisher, 2012
edizione  
Volume  
ISBN
Abstract This paper presents a new statically balanced
walking technique for a robot‐crawler. The gait design
and the control of the robot crawler aim to achieve
stability while walking. This statically balanced gait has
to be designed in a different fashion to a wheeled robot,
as there are discrete changes in the support of the robot
when its legs are lifted or placed on the ground. The
stability of the robot depends on how the legs are
positioned relative to the body and also on the sequence
and timing with which the legs are lifted and placed. In
order to reduce the risk of stability loss while walking, a
measure for the robot stability (so‐called stability margin)
is typically used in the gait and motion planning. In this
paper different biological behaviours of four‐legged
animals are studied and mapped on a quad‐legrobotcrawler.
Experiments were carried out on the forward
walking gaits of lizards and horses. Based on these
results, the stability margins of different gaits are
discussed and compared.
Collections
Articoli a Rivista
2000 ed oltre
Superordinate work
 
no fulltext found International Journal of Advanced Robotic Systems
Autore: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Pubblicato: 2004
Verknüpfte Datensätze
Dokumente: International Journal of Advanced Robotic Systems
Permanentlinks
DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=33014009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_33014009.html
PDF FaviconPDF  Robot-Crawler: Statically Balanced Gaits
Datenbereitsteller
UCAUniv. Cassino  http://webuser.unicas.it/weblarm/larmindex.htm
Verwaltungsinformationen
Publikationsdatum 2012
Lizenzinformation Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

×