Author
Motahari-Bidgoli, S. M., Mahjoob, M. J., Davaria, S.
Publication Date
2014
Publication Place
-
IEEE
Subject
TET-Walker, Tetrahedron robot, Reconfigurable robot, Tumbling gait, Walking gait
Type
Document
Language
English
Digital
Yes
Manuscript
No
Library
Özyeğin University
Library Asset ID
2-s2.0-84922674090
Record ID
3e2177a3-4960-44a3-9e9f-520b289f9bfc
Date
2014
Notes
Due to copyright restrictions, the access to the full text of this article is only available via subscription.
Sample Text
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
