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Author Alasty, A. ♦ Borujeni, B.S.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2003
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Legged locomotion ♦ Turning ♦ Leg ♦ Motion planning ♦ Simulated annealing ♦ DC motors ♦ Marine vehicles ♦ Optimization methods ♦ Climbing robots ♦ Buildings
Abstract A novel Locomotion and gait planning method for a surface walking/climbing robot based on sequential 4-bar mechanism motions is presented. The robot moves on a surface through decoupled transverse gaits and turning gaits with desired length and angle. For implementation of turning gaits three methods of simulated annealing accurate planning, gradient based planning and hybrid accurate planning, are studied. Where the last method was found the most effective approach.
Description Author affiliation: Dept. of Mech. Eng., Sharif Univ. of Technol., Tehran, Iran (Alasty, A.; Borujeni, B.S.)
ISBN 078037729X
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2003-06-25
Publisher Place Turkey
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 275.04 kB
Page Count 5
Starting Page 664
Ending Page 668


Source: IEEE Xplore Digital Library