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

Volume

3

fYear

2000

fDate

2000

Firstpage

1900

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IROS.2000.895248

Filename

895248