Simulation and analysis of a TET-walker robot motion

Name: Simulation and analysis of a TET-walker robot motion
Author: Motahari-Bidgoli, S. M., Mahjoob, M. J., Davaria, S.

İsim	Simulation and analysis of a TET-walker robot motion
Yazar	Motahari-Bidgoli, S. M., Mahjoob, M. J., Davaria, S.
Basım Tarihi:	2014
Basım Yeri	- IEEE
Konu	TET-Walker, Tetrahedron robot, Reconfigurable robot, Tumbling gait, Walking gait
Tür	Belge
Dil	İngilizce
Dijital	Evet
Yazma	Hayır
Kütüphane:	Özyeğin Üniversitesi
Demirbaş Numarası	2-s2.0-84922674090
Kayıt Numarası	3e2177a3-4960-44a3-9e9f-520b289f9bfc
Tarih	2014
Notlar	Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Örnek Metin	Tetrahedral walker robots are a group of reconfigurable robots which makes them adaptable for the full spectrum of activities in places that wheeled robots are inapplicable. In this paper, two different gaits for a single-TETwalker are introduced and the motion of the robot is then simulated. Modeling of the robot and simulation of its tumbling and walking gaits are performed within the ADAMS software. While the prismatic joints of the struts are gradually manipulated to make a walking gait, the motion in the tumbling gait is managed by changing the mass center and causing it to topple. Simulation results are used to improve the characteristics of the robot and to compare the performance of its motion in the gaits presented.
DOI	10.1109/ICRoM.2014.6991021

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Simulation and analysis of a TET-walker robot motion

Yazar Motahari-Bidgoli, S. M., Mahjoob, M. J., Davaria, S.

Basım Tarihi 2014

Basım Yeri - IEEE

Konu TET-Walker, Tetrahedron robot, Reconfigurable robot, Tumbling gait, Walking gait

Tür Belge

Dil İngilizce

Dijital Evet

Yazma Hayır

Kütüphane Özyeğin Üniversitesi

Demirbaş Numarası 2-s2.0-84922674090

Kayıt Numarası 3e2177a3-4960-44a3-9e9f-520b289f9bfc

Tarih 2014

Notlar Due to copyright restrictions, the access to the full text of this article is only available via subscription.

Örnek Metin Tetrahedral walker robots are a group of reconfigurable robots which makes them adaptable for the full spectrum of activities in places that wheeled robots are inapplicable. In this paper, two different gaits for a single-TETwalker are introduced and the motion of the robot is then simulated. Modeling of the robot and simulation of its tumbling and walking gaits are performed within the ADAMS software. While the prismatic joints of the struts are gradually manipulated to make a walking gait, the motion in the tumbling gait is managed by changing the mass center and causing it to topple. Simulation results are used to improve the characteristics of the robot and to compare the performance of its motion in the gaits presented.

DOI 10.1109/ICRoM.2014.6991021