A novel mobile biped robot was designed and a prototype was built. This four-axis device consists of two, two-axis wrists separated by a linear supportig structure which carries four servomotors and harmonic drives. Either end of the robot is plugged into one element of an nxm element vertical array of holes. The other end supports a gripper used to perform a variety of 'standard' robot parts handling tasks. To 'walk' to another part of the array, the gripper is first unloaded. The robot then plugs its free end into an adjacent array element. The other end is raised and, an appropriate wrist orientation is performed. The free end is inserted into another array element. The process is repeated and results in the manipulator walking like a 'rigid slinky'. Although the prototype has an umbilical which carries the power to the motors and the position information from the encoders, the final version transmits these signals through individually array locations.


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    Title :

    MOBI - a mobile biped robot


    Additional title:

    MOBI - Ein mobiler, Zweifuss-Roboter


    Contributors:
    Klafter, R.D. (author) / Kroczynski, P. (author) / Wade, B.J. (author)


    Publication date :

    1985


    Size :

    23 Seiten, 10 Bilder, 3 Tabellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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