Title :
Dynamic workspace analysis and motion planning for a micro biped walking robot
Author :
Yue, Meng ; Xi, Ning ; Minor, Mark ; Mukherjee, Ranjan
Author_Institution :
Dept. of Electr. & Comput. Eng., Michigan State Univ., East Lansing, MI, USA
Abstract :
The dynamic workspace and the motion plans for a micro biped walking robot are studied in the paper. The dynamic model and controller of an under-actuated walking robot system are developed. Two optimal navigation algorithms for the motion of the robot in the same plane without obstacles are developed, and optimality is proved. The motion of the robot is divided into normal motion status and transition status. The complete scheme to perform the two status and this real time implementation are presented. The dynamic simulation results and 2D-rendering of the robot navigation is given
Keywords :
legged locomotion; microrobots; path planning; rendering (computer graphics); robot dynamics; robot kinematics; 2D rendering; dynamic simulation; dynamic workspace analysis; micro biped walking robot; motion planning; normal motion status; optimal navigation algorithms; real time implementation; robot navigation; transition status; under-actuated walking robot system; Actuators; Belts; Crawlers; Inspection; Legged locomotion; Motion analysis; Motion control; Motion planning; Navigation; Robot kinematics;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.895248
