Design of a quadruped walking machine for terrain adaptation

Proceedings of the 1st Workshop on Robot Motion and Control, RoMoCo 1999

Volumn , Issue , 1999, Pages 59-64

  Zhou, Debao ^a   Low, K H ^a   Zielinska, Teresa ^b  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

^b WARSAW UNIVERSITY OF TECHNOLOGY   (Poland)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); DESIGN; INVERSE KINEMATICS; KINEMATICS; LANDFORMS; ROBOTS;

3 DEGREES OF FREEDOM; ELECTRICAL DESIGN; KINEMATIC ANALYSIS; KINETIC DESCRIPTION; MECHANICAL DESIGN; MECHANICAL STRUCTURES; QUADRUPED WALKING MACHINE; TERRAIN ADAPTATION;

MACHINE DESIGN;

EID: 79952625846     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROMOCO.1999.791053     Document Type: Conference Paper

References (14)

1. Dwivedi, Suren N. and Mahalingam, Swaminathan, Periodic gaits for the CMU Ambler. Journal of Robotic Systems. Vol. 9, No. 1, Feb 1992, pp. 1-15.
2. Lehtinen Hannu, Force Based Motion Control of a Walking Machine. Espoo, Technical Research Center of Finland, VTT Publications 179, Ph.D. Thesis, 1994.
3. th World Congress on the Theory of Mechanics and Mechanism. Milano, Italy, August 1995, pp. 112-118.
4. nd International Conference on Knowledge-Based Intelligent Electronic System. Adelaide, Australia, 1998, pp. 294-301.
5. th International Conference on Advanced Robotics. July 1997, pp. 77-82.
6. B. Gurocak and J. Peabody, Design of a robot that walks in any direction. Journal of Robotic System. Vol. 15, No. 2 1998, pp. 75-83.
7. Alexandre Paul and Preumont Andre, On the gait control of a six-legged walking machine. International Journal of Systems Science. Vol. 27, No. 8, Aug 1996, pp. 713-721.
8. th international conference on control, automation, robotics and vision. Singapore, 1998, pp. 1175-1188.
9. John J. Craig, Introduction to Robotics Mechanics and Control. Addison-Wesley, Reading, MA, 1990.
10. P.J. Mckerrow, Introduction to Robotics. Addison-Wesley, Reading, MA, 1991.
11. th World Congress on the Theory of Machines and Mechanisms (IFToMM). Oulu, Finland, June, 1999.
12. The Math-Works Inc, User's Guide for Optimization Toolbox of Mallab 5.0, Vision 4, 1996.
13. MAXON, Maxon motor, Drive components and systems. 97/98 edition.
14. Shaoping Bai, K. H. Low and T. Zielinska, Quadruped Free Gait Generation Based on the Primary/Secondary Gait, to be published in Robotica, 1999.