DocumentCode
1399723
Title
Kydonas-an autonomous hybrid robot: walking and climbing
Author
Bourbakis, Nicolaos G.
Author_Institution
Dept. of Electr. Eng. & Comput. Sci., T.J. Watson Sch. of Eng. & Appl. Sci., USA
Volume
5
Issue
2
fYear
1998
fDate
6/1/1998 12:00:00 AM
Firstpage
52
Lastpage
59
Abstract
Kydonas is an autonomous walking robot, making use of three wheels and three legs for moving in a free navigation space. More specifically, it employs autonomous wheels to move around in an environment where the surface is smooth with no unevenness. However, in the case that there are small height obstacles, stairs, or small height unevenness in the navigation environment, the robot makes use of both wheels and legs to efficiently travel through. Simulated results of Kydonas´ traveling for several cases are provided
Keywords
legged locomotion; path planning; Kydonas; autonomous hybrid robot; autonomous wheels; climbing; free navigation space; walking; Floors; Leg; Legged locomotion; Mars; Mobile robots; Navigation; Orbital robotics; Robot sensing systems; Robotics and automation; Wheels;
fLanguage
English
Journal_Title
Robotics & Automation Magazine, IEEE
Publisher
ieee
ISSN
1070-9932
Type
jour
DOI
10.1109/100.692341
Filename
692341
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