Coordination of the limb motion of a vehicle which could perform assembly and maintenance operations on large structures in space is described. Manipulator kinematics and walking robots are described. The basic control scheme of the robot is described. The control of the individual arms are described. Arm velocities are generally described in Cartesian coordinates. Cartesian velocities are converted to joint velocities using the Jacobian matrix. The calculation of a trajectory for an arm given a sequence of points through which it is to pass is described. The free gait algorithm which controls the lifting and placing of legs for the robot is described. The generation of commanded velocities for the robot, and the implementation of those velocities by the algorithm are discussed. Suggestions for further work in the area of robot legged locomotion are presented.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Computer Coordination of Limb Motion for a Three-Legged Walking Robot


    Beteiligte:
    C. A. Klein (Autor:in) / M. R. Patterson (Autor:in)

    Erscheinungsdatum :

    1980


    Format / Umfang :

    108 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch





    Lower limb structure for legged robot, and legged robot

    NAGATSUKA MASAKI | Europäisches Patentamt | 2016

    Freier Zugriff

    Six-Legged Underwater Walking Robot

    P. Yuan / D. Xiu / X. Li | NTIS | 1994


    ARAMIES: A Four-legged Climbing and Walking Robot

    Spenneberg, D. / Albrecht, M. / Backhaus, T. et al. | British Library Conference Proceedings | 2005


    Linearly-driven walking robot leg configuration and parallel-connected six-legged walking robot

    GAO FENG / CHEN XIANBAO / JIN ZHENLIN et al. | Europäisches Patentamt | 2015

    Freier Zugriff