A multifunctional hybrid hip joint for improved adaptability in miniature climbing robots

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 1, Issue , 2003, Pages 312-317

  Krosuri, Satya P ^a   Minor, Mark A ^a  

^a Department of Electrical and Computer Engineering   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; FORCE CONTROL; INVERSE KINEMATICS; MOTION CONTROL; MOTION PLANNING; OPTIMIZATION; UNIVERSAL JOINTS;

ADAPTABILITY; MINIATURE CLIMBING ROBOTS; MULTIFUNCTIONAL HYBRID HIP JOINT; WORKSPACE ANALYSIS;

MOBILE ROBOTS;

EID: 0344876617     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (13)

1. Nunobiki, M., M. Hasegawa, K. Okuda, N. Huruse, and Y. Takita, "Study on the gaits of an inchworm robot through a narrow path," Advanced Robotics, 13(3), p329-30, 1999.
2. Briones, L., P. Bustamante, and M. Serna, "Robicen: A wall climbing pneumatic robot for inspection in nuclear power plants," Robotics & Computer-Integrated Manufacturing, 11(4),p287-292, 1994.
3. Dangi, G., J. Stam, and D. Aslam, "Design, Fabrication, and Testing of a Smart Robotic Foot for Microrobotic Systems", Proceedings of the 31st International Symposium on Robotics (ISR 2000), Montreal, Que., Canada, p283-287, 2000.
4. Minor, M., H. Dulimarta, G. Danghi, R. Mukherjee, R. Lal Tummala, and D. Aslam, "Design, implementation, and evaluation of an under-actuated miniature biped climbing robot", Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), Piscataway, NJ, USA, p1999-2005, vol.3, 2000.
5. Kotay, K.D. and D.L. Rus, "Navigating 3D steel web structures with an inchworm robot", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96, New York, NY, USA, p368-75, vol.1, 1996.
6. Nishi, A., "Development of Wall Climbing Robots," Computers & Electrical Engineering, 22(2), p123-149, 1996.
7. Pack, R.T., J.L. Christopher, and K. Kawamura, "A Rubbertuator-Based Structure-Climbing Inspection Robot", Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA., Albuquerque, NM., 3, p1869-74, 1997.
8. Xiao, J., M. Minor, H. Dulimarta, N. Xi, R. Mukherjee, and R.L. Tummala, "Modeling and control of an under-actuated miniature crawler robot", Proceedings of RSJ/IEEE International Conference on Intelligent Robots and Systems, Piscataway, NJ, USA, p1546-51 vol.3, 2001.
9. Bahr, B., Y. Li, and M. Najafi, "Design and Suction Cup Analysis of a Wall Climbing Robot," Computers & Electrical Engineering, 22(3), p193-209, 1996.
10. Yano, T., T. Suwa, M. Murakami, and T. Yamamoto, "Development of a Semi Self-Contained Wall Climbing Robot with Scanning Type Suction Cups", Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems, Grenoble, Fr., 2, p900-905, 1997.
11. Minor, M. and R. Mukherjee, "Under-Actuated Kinematic Structures for Miniature Climbing Robots," ASME Journal of Mechanical Design, accepted with minor revisions, 2002.
12. Yue, M., N. Xi, M. Minor, and R. Mukherjee, "Dynamic workspace analysis and motion planning for a micro biped walking robot", Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), Piscataway, NJ, USA, p1900-5, vol.3, 2000.
13. Craig, J.J., Introduction to Robotics: Mechanics and Control, Reading, MA: Addison Wesley Publishing Co., 1986.