Design of mechanical and control system of a walking machine

• Autorzy: Zielińska T. , Heng J. , Goh T.
• Języki publikacji: EN

Abstrakty

PL

Projekt systemu mechanicznego i systemu sterowania maszyny kroczącej. Autorzy opisują problemy projektowe aktualnie budowanej sześcionożnej maszyny kroczącej. Najpierw opisana jest struktura machaniczna, następnie struktura sprzętowa. Dalej przedyskutowano zagadnienia związane z syntezą systemu sterowania, planowaniem chodu oraz detekcją siły i odległości. Podane są wybrane wyniki eksperymentów.

Słowa kluczowe

EN

walking machines; mechanical and control system design; hexapods

• Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Journal of Theoretical and Applied Mechanics
• Rocznik: 2000
• Tom: Vol. 38 nr 3
• Strony: 709--725
• Opis fizyczny: Bibliogr. 19 poz., rys.

Twórcy

autor

Zielińska T.

• Robotics Research Centre, Nanyang Technological University, Singapore

autor

Heng J.

• Robotics Research Centre, Nanyang Technological University, Singapore

autor

Goh T.

• Robotics Research Centre, Nanyang Technological University, Singapore

Bibliografia

• 1. BROOKS R.A., STEIN L.A., 1994, Building Brains for Bodies, Autonomous Robots, 1, 7-25.
• 2. DEBAO Z., LOW K.H., ZIELIŃSKA T., 1999, An Efficient Foot-Force Distribution Algorithm for Quadruped Walking Robots, Robotica, 17, 1999 (in press).
• 3. GARDNER J.F., 1992, Efficient Computation of Force Distribution for Walking Machines on Rought Terrain, Robotica, 10, 427-433.
• 4. GORNIEVSKY D.M., SCHNEIDER A.YU., 1990, Force Control in Locomotion of Legged Vehicles over Rigid and Soft Surfaces, The Int. J. of Robotics Research, 9, 2, 4-22.
• 5. HARTIKAINEN K., 1996, Motion Planning of a Walking Platform Designed to Locomote on Natural Terrain, Helsinki Univ. of Technology 724.
• 6. HENG J., ZIELIŃSKA T., SHAOPING B., DEBAO Z., 1999, Developmental Work on a Legged Machine Dedicated for Pick and Place Tasks, 3rd Int.Conf on Industrial Automation, Canada - IAIA, 11.12-11.19.
• 7. KLEIN CH.A., KITTIVATCHARAPONG S., 1990, Optimal Force Distribution for the Legs of a Walking Machine with Friction Cone Constraints, IEEE Trans. On Robotics and Automation, 5, 1, 3-85.
• 8. LOH J., HENG J., SEET G., SIM S.K., 1998, Behavior-Based Search Using Small Autonomous Mobile Robot Vehicles, Proc. 2nd Knowledge-Based Intelligent Electronic Systems International Conference, Australia, 3, 294-301.
• 9. MANKO D.J., 1992, A General Model of Legged Locomotion on Natural Terrain, Kluver Academic Publishers.
• 10. NAGY P.V., DESA S., WITTAKER W.L., 1994, Energy-Based Stability Measures for Reliable Locomotion of Statically Stable Walkers: Theory and Application, The Int. Journal of Robotics Research, 13, 3, 272-282.
• 11. PAL P.K., JAYARAJAN K., 1991, Generation of Free Gait - a Graph Search Approach, IEEE Trans. On Robotics and Automation, 7, 4, 299-305.
• 12. PFEIFFER F., ELTZE J., WEIDEMANN H.J., 1995, Six-Legged Technical Walking Considering Biological Principles, Robotics and Automous Systems, 14, 223-232.
• 13. PUGH R.D., RIBBLE E.A., VOHNOUT V.J., BIHARI T.E., WALLISER T.M., PATTERSON M.R., WALDRON K.J., 1990, Technical Description of the Adaptive Suspension Vehicle, The Int. Journal of Robotics Research, 9, 2, 24-42.
• 14. SHAOPING B., LOW K.H., ZIELIŃSKA T., 1999, Quadruped Free Gait Generation for Straight-Line and Circular Trajectories, Advanced Robotics, 13, 5, 513-538.
• 15. SONG S.M., WALDRON K.J., 1986, Geometric Design of a Walking Machine for Optimal Mobility, Transactions of The ASME: Journal of Mechanisms, Transmissions, and Automation in Design, December, 1-8.
• 16. ZIELIŃSKA T., 1997, Utilisation of Biological Patterns in Reference Trajectories Generation of Walking Machines, IEEE 8th Int. Conference on Advanced Robotics. Workshop II: New Approaches on Dynamics Walking and Climbing Machines, USA, 92-104.
• 17. ZIELIŃSKA T., 2000, Efficiency Analysis in the Design of Walking Machine, Journal of Theoretical and Applied Mechanics, 38, 3.
• 18. ZIELIŃSKA T., HENG J., SEET G., 1999, Walking Machine Position and Force Control, Proc. of the IEEE. 1st Workshop on Robot Motion and Control, Poland, 141-145.
• 19. ZIELIŃSKA T., SZABELAK P., 1998, Grasp Planning of the Objects Recognised by the Ultrasonic Range Finder, J. Measurements, Automatic Control and Robotics, 7-8, 21-24 (in polish).