Design concept for a walking machine with reduced degree of freedom

被引：0
|
作者：
Ota, Y [1 ]
Yoneda, K [1 ]
Ito, F [1 ]
Hirose, S [1 ]
机构：
[1] Tokyo Inst Technol, Dept Mechanoaerosp Engn, Tokyo 152, Japan
来源：
PROCEEDINGS OF THE 2ND INTERNATIONAL CONFERENCE ON CLIMBING AND WALKING ROBOTS, CLAWAR 99 | 1999年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A Twin-Frame mobile robot is proposed that can perform tasks and is constructed with reduced degrees of freedom. An optimal arrangement of the DOF for the walking and manipulation as well as the constitution method in order to obtain stability on slopes is considered. We developed the ParaWalker-II based on these results and the machine consists of 7-DOF in total, including a 6-DOF mechanism that connects two leg-bases with three legs each and a 1-DOF extendable leg. The performance of tasks and walking experiments on uneven terrain using the actual model confirms this robot's ability justifies the approach adopted.
引用
收藏
页码：485 / 496
页数：12
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