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...

Ngày tải lên: 10/08/2014, 23:21

... 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...

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...        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...

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... 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...

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... s4 2  S  b  Sep.  s 1  1,s 2  3  2 Sc Sep.s 1 1,s 2 3 2 Longs4 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 s4 2 Sb Sep.s 1 1,s 2 3 2 Sc Sep.s 1 1,s 2 3 2 Longs4 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...

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... 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...

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...                                 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...

Ngày tải lên: 10/08/2014, 23:21

... 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...

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... (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...

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... 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...

Ngày tải lên: 10/08/2014, 23:21