Kinematic design of crab-like legged vehicles
Liu, A and Howard, D 2001, 'Kinematic design of crab-like legged vehicles' , Robotica, 19 (01) , pp. 67-77.
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In this paper, the kinematic workspace characteristics of a crab-like legged vehicle are investigated using a 2-D model. The alternative kinematic conﬁgurations and their corresponding workspace constraints are discussed, and the vehicle conﬁguration of most interest identiﬁed. It is shown that, for constant vehicle body attitude, only two parameters affect the kinematic workspace, foot overlap and thigh length. Analytical methods for calculating the workspace characteristics are presented and, using these methods, the effects of the design geometry on the kinematic workspace are investigated.
|Themes:||Subjects outside of the University Themes|
|Schools:||Schools > School of Health Sciences > Centre for Health Sciences Research|
|Journal or Publication Title:||Robotica|
|Publisher:||Cambridge University Press|
|Depositing User:||Users 29196 not found.|
|Date Deposited:||23 Feb 2012 11:42|
|Last Modified:||20 Aug 2013 17:24|
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