Title :
Motion planning for a two-link planar robot in a viscous environment
Author :
Babikian, Sevag ; Shammas, Elie ; Asmar, Daniel
Author_Institution :
Dept. of Mech. Eng., American Univ. of Beirut, Beirut, Lebanon
Abstract :
This paper is concerned with gait generation for the simplest underactuated multi-link robot. This robot is realized by a two-link planar system that locomotes in a viscous environment due to the existence of friction pads along its body. The proposed solution of the motion planning problem yields both a control gait for the inter-link angle as well as the location of the friction pad to produce a desired motion of the system.
Keywords :
friction; gait analysis; mobile robots; multi-robot systems; path planning; friction pads; gait generation; motion planning; two-link planar robot; underactuated multi-link robot; viscous environment; Equations; Friction; Mathematical model; Planning; Robot kinematics; Torque;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
Print_ISBN :
978-1-4673-1737-5
DOI :
10.1109/IROS.2012.6385610
