DocumentCode
3065223
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
fYear
2009
fDate
15-17 March 2009
Firstpage
344
Lastpage
349
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;
fLanguage
English
Publisher
ieee
Conference_Titel
System Theory, 2009. SSST 2009. 41st Southeastern Symposium on
Conference_Location
Tullahoma, TN
ISSN
0094-2898
Print_ISBN
978-1-4244-3324-7
Electronic_ISBN
0094-2898
Type
conf
DOI
10.1109/SSST.2009.4806844
Filename
4806844
Link To Document