会议专题

Kinematic Control of Dual-tripod Walking Robot with a Steering-wheel

This paper describes a new developed dual-tripod walking robot with a steering-wheel, this robot has a feature of independent straight going control and omnidirectional steering control; The robot walking velocity control is only dependant on its gait period and stride length, while its motion direction control is only dependant on its steering wheel, and the final motion will be the motion synthesis of straight going and steering. The gaits of straight going and omnidirectional steering are planned. The simulation and walking experiments are performed, and the results confirm that this robot has high performances in direction accuracy and stability.

dual-tripod robot steering-wheel motion accuracy

Guofu Wang Feng Gao Ying Cui Xinhong Yang

School of Transportation Science and Technology Beihang University,Beijing 100191,P.R.China

国际会议

2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

桂林

英文

2415-2420

2009-12-19(万方平台首次上网日期,不代表论文的发表时间)