Climbing and Walking Robots part 2 pptx
Climbing and Walking Robots part 2 pptx
... (2. 1 in Fig. 3)
houses the seat and the batteries. The two lateral platforms (2. 3 and 2. 7) house the climbing
mechanisms. The platforms are joined by two parallelograms (2. 2, 2. 6, 2. 8 and 2. 9, ... on
Climbing and Walking Robots (CLAWAR 20 01), pp. 569-576, ISBN 1-86058-365 -2,
Karlsruhe, Germany, September, 20 01, Professional Engineering Publishing, Suffolk
U...
Climbing and Walking Robots part 7 pptx
... follows:
M
11
(Θ) = J
1
+ J
2
+ J
3
+ m
1
a
2
1
+ m
2
l
2
1
+ m
2
a
2
2
−2m
2
a
2
l
1
cos θ
2
+m
3
l
2
1
+ m
3
a
2
3
+ 2m
3
a
3
l
1
cos(γ −θ
3
),
M
12
(Θ) = −J
2
−m
2
a
2
2
+ m
2
a
2
l
1
cos θ
2
,
M
13
(Θ) ... follows:
M
11
(Θ) = J
1
+ J
2
+ J
3
+ m
1
a
2
1
+ m
2
l
2
1
+ m
2
a
2
2
−2m
2
a
2
l
1
cos θ
2
+m
3
l
2
1
+ m
3
a
2
3
+ 2m
3
a
3...
Climbing and Walking Robots Part 9 pptx
...
2 2 2 2 2
1 1 1 2 1 2 1
2 2 2 2 2 2
1 1 3 2 2 1 1 1 2 3 2 3 2
1 1 3 1 1 3 1 2 1 2 1 2
2 2 2 2
2 2 2 1
1 1
( , ) ( ( ) )
2 2
1
( ) cos( )
2
cos( ) cos( )
1
(
2
H
K m L m a ...
2
4 3
1 2 1 2 1 2
3 2 3
2
2
1 2 1 2
1
2 3
1 2
2
2
2 3 2
( ) 9 12
_ _ _
_ _ _
2
3 2...
Climbing and Walking Robots part 11 pptx
... Conference on Intelligent Robots
and Systems, Vol. 4, 29 Oct 3 Nov. 20 01 pp. 23 18 – 23 25.
Wang X J. (20 05). A Study of Locomotion and Force Planning for Multilegged Walking
Robots. PHD thesis(in ... between foot and ground, a virtual
spherical joint is assumed.
Climbing and Walking Robots3 10
Climbing and Walking Robots3 22
In comparison with the previous reconfigur...
Climbing and Walking Robots part 13 pptx
... s4 2
S
b
Sep.
s
1
1,s
2
3
2
Sc Sep.s
1
1,s
2
3 2 Longs4 2
a
800 1000 120 0 1400 1600
0.000
0.001
0.0 02
0.003
0.004
0.005
0.006
0.007
T
total
probability
b
0 20 0 ... Mix s4 2
Sb Sep.s
1
1,s
2
3 2
Sc Sep.s
1
1,s
2
3 2 Longs4 2
a
800
1000
120 0
1400
1600
0.000
0.001
0.0 02
0.003
0.004
0.005
0.006
0.007
T
total
probabi...
Climbing and Walking Robots part 1 pps
... Climbing and Walking Robots2 2
Xiao, J., Xiao, J., Xi, N. and Sheng, W. (20 04). Fuzzy system approach for task planning and
control of micro wall climbing robots, Proc. of the 20 04 IEEE ... (20 06);
Krosuri and Minor (20 03); Resino et al. (20 06); Robert T. Pack and Kawamura (1997); Shores
and Minor (20 05); Tummala et al. (20 02) ; Xiao et al. (20 03; 20 04)).
Fig. 3. RA...
Climbing and Walking Robots part 3 pdf
...
S
L
R
c
c
c
WrWr
JJ
JJ
y
x
1//
0
0
22 21
121 1
(8)
where,
W
rsr
J
W
rsr
J
W
rsr
J
W
rsr
J
vv
vv
vv
vv
cos
2
sin
cos
2
sin
sin
2
cos
sin
2
cos
22
21
12
11
(9)
Where r,W and s are ... and 5 motors are used in Hyperion -2, a wall climbing robot “Hyperion-1SP” an...
Climbing and Walking Robots part 4 pps
... Intelligent Robots and Systems, pp .24 7 -25 2, Hawaii USA
Ota Y.; Yoneda K., Tamaki T. & Hirose S. (20 02) , A Walking and Wheeled Hybrid
Locomotion with Twin-Frame Structure Robot, Proceedings of 20 02 ... rubber belts,
and the handrail to assist the elders while walking and moving up -and- down stairs, and the
latter uses two legs and the handrail to assist walk...
Climbing and Walking Robots part 5 ppsx
... (Fig. 5 left, 22 0cm 22 0cm), Environment B (Fig. 5 right, 22 0cm 22 0cm).
With Environment A, we measured average numbers of A* search tries to evaluate the
Climbing and Walking Robots1 34
computational ... Intelligent Robots and Systems, Vol. 3, pp. 24 40 -24 45, 28 Sept 2 Oct.
Terasic company, (20 08). THDB-D5M Hardware Specification and User Guide.
Tu, Y M. (20 09). Desi...
Climbing and Walking Robots part 6 doc
... 0.5m
2
l
2
2
((
FTD
˙
θ
−
2
)
2
−(
FTD
˙
θ
+
2
)
2
) + 0.5(m
1
d
2
1
+ m
2
l
2
1
)(
FTD
˙
θ
−
1
)
2
(22 )
+m
2
l
1
l
2
cos(
FTD
θ
2
)(
FTD
˙
θ
−
1
)(
FTD
˙
θ
−
2
)
On the other hand
FTD
˙
θ
+
2
is ... 0.5m
2
l
2
2
((
FTD
˙
θ
−
2
)
2
−(
FTD
˙
θ
+
2
)
2
) + 0.5(m
1
d
2
1
+ m
2
l
2
1
)(
FTD
˙
θ
−
1
)
2
(22 )
+m
2
l
1
l
2
cos(
FTD
θ
2
)(
FTD...
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