DocumentCode :
1739866
Title :
Mechanical design of a quadruped robot for horizontal ground to vertical wall movement
Author :
Alsalameh, Abd Alsalam Sh I ; Amin, Shamsudin H M ; Mamat, Rosbi
Author_Institution :
Fac. of Electr. Eng., Univ. Teknologi Malaysia, Johor Darul Ta´´zim, Malaysia
Volume :
1
fYear :
2000
fDate :
2000
Firstpage :
213
Abstract :
In this paper, an emphasis is given towards the mechanical structure of a quadruped robot which is able to walk on ground, climb on vertical walls, and perform the ground-wall-movement automatically. An overview of the robot is shown and the configuration, number of DOFs, and actuation system of the leg are analyzed. The biologically inspired gaits of the robot are discussed. The movement of the leg from the ground to the wall is analyzed. The integrated leg movement-trunk regulation sequences are simulated. The trajectories of specific points on the trunk are traced, showing the limits for safe movement inside meandrous chimneys or zigzag tubing
Keywords :
legged locomotion; motion control; gait movements; ground-wall-movement; legged locomotion; motion control; quadruped robot; trunk regulation; wall climbing; Biological system modeling; Chemical industry; Gears; Hip; Intelligent robots; Knee; Leg; Legged locomotion; Robotics and automation; Shafts;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
TENCON 2000. Proceedings
Conference_Location :
Kuala Lumpur
Print_ISBN :
0-7803-6355-8
Type :
conf
DOI :
10.1109/TENCON.2000.893573
Filename :
893573
Link To Document :
بازگشت