| Volume 24 Issue 12 - Publication Date: 1 December 2005 |
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| Design, Modeling, Control, and
Evaluation of a Hybrid Hip Joint Miniature Climbing Robot |
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| S. P. Krosuri and M.
A. Minor Department of Mechanical Engineering, University of Utah,
Salt Lake City, UT 84112, USA |
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| The subject of this paper is
the design, control, and evaluation of a biped-climbing robot featuring
a new hybrid hip joint. The hybrid hip provides both prismatic and revolute
motion, discretely, to the robot, using a single actuator. This is intended
to improve its adaptability in confined environments and its capability
to maneuver over and around obstacles. Optimization of the hybrid hip joint
relative to robot size, weight, and actuation limits is considered while
maximizing range of motion. The mechanical structure of the robot is discussed,
as well as forward and inverse kinematics for motion planning. Reachable
robot workspace in both revolute and prismatic phases of the hybrid hip
joint is analyzed. Different robot locomotion strides are developed and
dynamic controller requirements are considered. Experimental evaluation
of the robot walking and climbing on and between surfaces with different
inclinations is conducted to evaluate performance and repeatability of the
system. |
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| Multimedia Key |
= Video |
 = Data |
= Code |
= Image |
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Extension |
Type |
Description |
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Example
1: Flipping stride. (5.5 MB) |
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Example
2: Crawling stride. (2.6 MB) |
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Example
3: Flipping transition. (6.6 MB) |
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Example
4 : Crawling transition. (3.0 MB) |
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