Title :
Implementation and control of a reconfigurable 8-Tetrahedral robot
Author :
Abrahantes, Miguel ; Smits, Cornelius
Author_Institution :
Dept. of Eng., Hope Coll., Holland, MI, USA
Abstract :
This work describes the implementation and control of an 8-Tetrahedron Walker. The hardware selection in building the robot will be covered. Both mechanical systems and the electronic control systems will be discussed. A TET robot has struts and nodes positioned in a way that allows the robot to move by extending and contracting the struts. The Hope College Controls team has built a working 8-TET robot and has done extensive modeling and gait development of other TET configurations.
Keywords :
mobile robots; 8-tetrahedron walker; Hope College Controls team; autonomous mobile robots; electronic control mechanical; gait development; hardware selection; mechanical systems; reconfigurable 8-tetrahedral robot; working 8-TET robot; Educational robots; Legged locomotion; Prototypes; Robot kinematics; Robot sensing systems;
Conference_Titel :
Electro/Information Technology (EIT), 2012 IEEE International Conference on
Conference_Location :
Indianapolis, IN
Print_ISBN :
978-1-4673-0819-9
DOI :
10.1109/EIT.2012.6220719
