Kinematic design of crab-like legged vehicles

Liu, A ORCID: https://orcid.org/0000-0001-9416-1726 and Howard, D ORCID: https://orcid.org/0000-0003-1738-0698 2001, 'Kinematic design of crab-like legged vehicles' , Robotica, 19 (01) , pp. 67-77.

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Abstract

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:	Schools > School of Health and Society > 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:	02 Nov 2020 18:19
URI:	http://usir.salford.ac.uk/id/eprint/20674

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