Sensory redundant parallel mobile mechanism

Author

Shoval, Shraga ; Shoham, Moshe

Volume

3

fYear

2001

fDate

2001

Firstpage

2273

Abstract

This paper presents a novel design for a mobile robot based on the kinematics of parallel mechanisms. The robot consists of 3 legs, each equipped with an asynchronous driving unit. The legs are connected to the driving units with spherical joints and to the upper plate with a revolute joint. Three additional encoders, attached to the upper revolute joints provide redundant data. This data is used by a kinematic model for accurate estimation of the robot´s configuration and position in space, even in rough terrains, where conventional odometry fails. Simulation results show the advantages of the design, and suggest a method for detection of irregularities of surfaces in unknown environments.

Keywords

legged locomotion; redundancy; robot kinematics; asynchronous driving unit; encoders; legs; mobile robot; parallel mechanism kinematics; redundant data; revolute joint; robot configuration; robot position; rough terrains; sensory redundant parallel mobile mechanism; spherical joints; surface irregularity detection; Actuators; Educational institutions; Engineering management; Industrial engineering; Kinematics; Leg; Legged locomotion; Manipulator dynamics; Mobile robots; Parallel robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.932961

Filename

932961