Roller Skating Analysis of a Novel Quadruped Robot with Extendable Body

摘要：

This paper proposes a skating locomotion mode of a novel quadruped robot with extendable body and passive wheels. The kinematic model and skating principle have been analyzed according to the character of the robots special structure. The gaits of straight skating and steering skating are discussed in detail. Lastly, we make some simulations to verify the skating principle and the kinematic analysis above.

关键词： Skater robot Quadruped robot Kinematics Gait planning

作者: Xilun Ding Hao Chen

作者单位: Institute of Robotics, Beihang University, Beijing, China

会议类型: 国际会议

会议名称: The Second ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robote 第二届ASME/IFTOMM可重构机构与可重构机器人国际大会 ReMAR 2012

会议地点: 天津

会议语种:英文

页码: 577-586

在线出版日期: 2012-07-08（万方平台首次上网日期，不代表论文的发表时间）