Title :
Implementation and control of a reconfigureable 4-tetrahedral robot
Author :
Abrahantes, Miguel ; Doorn, Peter ; Richard, Jerry ; Barbachyn, Steve
Author_Institution :
Dept. of Eng., Hope Coll., Holland, MI
Abstract :
This work describes the implementation and control of a 4-Tetrahedron walker. The hardware selection in building the robot will be covered. Both mechanical systems and the electronic control systems will be discussed in detail. This work is part of the contribution of the Hope College team to the development of tetrahedron walker robots by the ANTS (Autonomous Nano-Technology Swarm) group at Goddard Space Flight Center, NASA.
Keywords :
mobile robots; 4-tetrahedral walker; electronic control system; hardware selection; mechanical system; reconfigurable robot control; Control systems; Educational robots; Legged locomotion; Mobile robots; Orbital robotics; Prototypes; Robot kinematics; Robotic assembly; Space technology; Subspace constraints;
Conference_Titel :
System Theory, 2009. SSST 2009. 41st Southeastern Symposium on
Conference_Location :
Tullahoma, TN
Print_ISBN :
978-1-4244-3324-7
Electronic_ISBN :
0094-2898
DOI :
10.1109/SSST.2009.4806844
