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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.

    Item Type: Article
    Themes: Subjects outside of the University Themes
    Schools: Colleges and Schools > College of Health & Social Care > School of Health Sciences > Centre for Health Sciences Research
    Journal or Publication Title: Robotica
    Publisher: Cambridge University Press
    Refereed: Yes
    ISSN: 0263-5747
    Depositing User: Users 29196 not found.
    Date Deposited: 23 Feb 2012 11:42
    Last Modified: 20 Aug 2013 18:24

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