Title :
Locomotion strategies for an omnidirectional dual-tripod walking machine
Author :
Wang, J.S. ; Zheng, L. ; Zhang, B.P. ; Guo, Gongliang ; Gruver, William A.
Author_Institution :
Dept. of Precision Instrum., Tsinghua Univ., Beijing, China
Abstract :
Based on an analysis of an omnidirectional dual-tripod walking machine, we formulate a model for the body shape deformation of this mechanism. A locomotion strategy and the motion sequence for generating it are based on minimizing the support exchange times subject to the initial state, commanded path constraint, and path accuracy. An example is given to illustrate the proposed technique
Keywords :
deformation; legged locomotion; mobile robots; motion control; body shape deformation; commanded path constraint; locomotion strategy; mobile robots; motion sequence; omnidirectional dual-tripod walking machine; path accuracy; support exchange times; Cranes; Deformable models; Earth; Instruments; Leg; Legged locomotion; Materials science and technology; North America; Shape; Wheels;
Conference_Titel :
Systems, Man, and Cybernetics, 1994. Humans, Information and Technology., 1994 IEEE International Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-2129-4
DOI :
10.1109/ICSMC.1994.399844
