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 |
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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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