Novel Gaits for a Novel Crawling / Grasping Mechanism
نویسنده
چکیده
A novel, miniature robot designed to use its two arms for both manipulation and locomotion is described. Intended for military and civilian surveillance and search-and-rescue applications, the robot must be small, rugged, and lightweight, hence the desire for dual-use. The robot consists of two, three-degree-of-freedom arms that can stow completely inside the 75 mm diameter cylindrical body for ballistic deployment. Its design is loosely biologically inspired, but heavily constrained by sponsor demands. This paper describes the mechanism and design motivation as well as three novel locomotion gaits and a fourth conventional gait.
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تاریخ انتشار 2000