Modeling and control of a hybrid locomotion system

Journal of Mechanical Design, Transactions of the ASME

Volumn 121, Issue 3, 1999, Pages 448-456

  Krovi, V ^a   Kumar, V ^b  

^a MCGILL UNIVERSITY   (Canada)

^b UNIVERSITY OF PENNSYLVANIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COLLISION AVOIDANCE; COMPUTER SIMULATION; CONTACT ANGLE; DEGREES OF FREEDOM (MECHANICS); FORCE CONTROL; MATHEMATICAL MODELS; MECHANISMS; OPTIMIZATION; WHEELCHAIRS;

HYBRID LOCOMOTION SYSTEMS; HYBRID MOBILITY SYSTEMS;

VEHICLE WHEELS;

EID: 0033187541     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2829482     Document Type: Article

References (18)

1. Hiller, M., and Kecskemethy, A., 1987, “A Computer-oriented Approach for the Automatic Generation and Solution of the Equations of Motion for Complex Mechanisms,” Proc. 7th World Congress on the Theory of Machines and Mechanisms, Sevilla, Spain.
2. Hirose, S., 1984, “A Study of Design and Control of a Quadruped Walking,” International Journal of Robotics Research, Vol. 3, No. 2, pp. 113-133.
3. Hirose, S., and Morishima, A., 1990, “Design and Control of a Mobile Robot with an Articulated Body,” International Journal of Robotics Research, Vol. 9, No. 2, pp. 99-114.
4. Ji, Z., and Roth, B., 1988, “Direct Computation of Grasping Force for Three-Finger Tip-Prehension Grasps,” ASME JOURNAL OF MECHANISMS, TRANSMISSIONS, AND AUTOMATION IN DESIGN, Vol. 110, No. 4, pp. 405-413.
5. Johnson, L., Kumar, V., and Gardener, J. F., 1991, “Optimization of Contact Forces in Multi-fingered and Multi-legged Robots,” Proc. 2nd Ann. Applied Mechanisms and Robotics Conference, Vol. 2.
6. Kerr, J., and Roth, B., 1986, “Analysis of Multifingered Hands,” International Journal of Robotics Research, Vol. 4, No. 4, pp. 3-17.
7. Krovi, V., 1995, “Modeling and Control of a Hybrid Locomotion System,” M.S. Thesis, Department of Mechanical Engineering, University of Pennsylvania, Philadelphia, Pennsylvania, URL: http://www.cis.upenn.edu/venkat/Publications.html.
8. Kumar, V., and Waldron, K. J., 1988, “Force Distribution in Closed Kinematic Chains,” IEEE Transactions on Robotics and Automation, Vol. 4, No. 6, pp. 657-664.
9. Kumar, V., and Waldron, K. J., 1989, “Actively Coordinated Vehicle Systems,” ASME Journal of Mechanisms, Transmissions, and Automation in Design, Vol. 3, No. 2, pp. 223-231.
10. Kumar, V., Wellman, P., and Krovi, V., 1996, “Adaptive Mobility System,” U.S. Patent 5,513,716.
11. Nguyen, V. D., 1987, “Constructing Force-Closure Grasps,” Proc. 1987 IEEE Int. Conf. on Robotics and Automation, Raleigh, CA, pp. 240-245.
12. Okhotsimski, D. E., Gurfinkel, V. S., Devyanin, E. A., and Platonov, A. K., 1977, “Integrated Walking Robot Development,” Machine Intelligence, V 9,. Eds. J. E. Hayes, D. Michie and L. J. Mikulich.
13. Salisbury, J. K., and Roth, B.t 1983, “Kinematic and Force Analysis of Articulated Mechanical Hands,” ASME JOURNAL OF MECHANISMS, TRANSMISSIONS AND AUTOMATION IN DESIGN, Vol. 105, No. 1, pp. 35-41.
14. Song, S. M., and Waldron, K. J., 1989, Machines that Walk, MIT Press, Cambridge MA.
15. Sreenivasan, S. V., and Waldron, K. J., 1996, “Displacement Analysis of an Actively Articulated Wheeled Vehicle Configuration with Extensions to Motion Planning on Uneven Terrain,” ASME JOURNAL OF MECHANICAL DESIGN, Vol. 118, No. 2, pp. 312-320.
16. Thring, M. W., 1983, Robots and Telechairs: Manipulators with Memory, Remote Manipulators, Machine Limbs for the Handicapped, Ellis Horwood; New York: Halsted Press.
17. Wellman, P., Krovi, V., Kumar, V., and Harwin, W., 1995, “Design of a Wheelchair with Legs for People with Motor Disabilities,” IEEE Transactions on Rehabilitation Engineering, Vol. 3, No. 4, pp. 343-353.
18. Zhang, C-D., and Song, S. M 1989, “Gaits and Geometry of a Walking Chair for the Disabled,” Journal of Terramechanics, Vol. 26, No. 314, pp. 211-233.