Mechanical design of a quadruped robot for horizontal ground to vertical wall movement
In this paper, an emphasis is given towards the mechanical structure of a quadruped robot which is able to walk on ground, climb on vertical walls, and perform the ground-wall-movement automatically. An overview of the robot is shown and the configuration, number of DOFs, and actuation system of the...
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| Format: | Article |
| Language: | en |
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2000
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| Online Access: | http://eprints.utm.my/2304/1/Alsalameh2000__MechanicalDesignofaQuadruped.pdf http://eprints.utm.my/2304/ |
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| author | Sh. I. Alsalameh, Abd Alsalam H.M. Amin, Shamsudin Mamat, Rosbi |
| author_facet | Sh. I. Alsalameh, Abd Alsalam H.M. Amin, Shamsudin Mamat, Rosbi |
| author_sort | Sh. I. Alsalameh, Abd Alsalam |
| building | UTM Library |
| collection | Institutional Repository |
| content_provider | Universiti Teknologi Malaysia |
| content_source | UTM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | In this paper, an emphasis is given towards the mechanical structure of a quadruped robot which is able to walk on ground, climb on vertical walls, and perform the ground-wall-movement automatically. An overview of the robot is shown and the configuration, number of DOFs, and actuation system of the leg are analyzed. The biologically inspired gaits of the robot are discussed. The movement of the leg from the ground to the wall is analyzed. The integrated leg movement-trunk regulation sequences are simulated. The trajectories of specific points on the trunk are traced, showing the limits for safe movement inside meandrous chimneys or zigzag tubing |
| format | Article |
| id | my.utm.eprints-2304 |
| institution | Universiti Teknologi Malaysia |
| language | en |
| publishDate | 2000 |
| record_format | eprints |
| spelling | my.utm.eprints-23042010-06-01T03:02:24Z http://eprints.utm.my/2304/ Mechanical design of a quadruped robot for horizontal ground to vertical wall movement Sh. I. Alsalameh, Abd Alsalam H.M. Amin, Shamsudin Mamat, Rosbi TK Electrical engineering. Electronics Nuclear engineering In this paper, an emphasis is given towards the mechanical structure of a quadruped robot which is able to walk on ground, climb on vertical walls, and perform the ground-wall-movement automatically. An overview of the robot is shown and the configuration, number of DOFs, and actuation system of the leg are analyzed. The biologically inspired gaits of the robot are discussed. The movement of the leg from the ground to the wall is analyzed. The integrated leg movement-trunk regulation sequences are simulated. The trajectories of specific points on the trunk are traced, showing the limits for safe movement inside meandrous chimneys or zigzag tubing 2000-09-24 Article PeerReviewed application/pdf en http://eprints.utm.my/2304/1/Alsalameh2000__MechanicalDesignofaQuadruped.pdf Sh. I. Alsalameh, Abd Alsalam and H.M. Amin, Shamsudin and Mamat, Rosbi (2000) Mechanical design of a quadruped robot for horizontal ground to vertical wall movement. TENCON 2000. Proceedings , 1 . pp. 213-217. |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Sh. I. Alsalameh, Abd Alsalam H.M. Amin, Shamsudin Mamat, Rosbi Mechanical design of a quadruped robot for horizontal ground to vertical wall movement |
| title | Mechanical design of a quadruped robot for horizontal ground to vertical wall movement
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| title_full | Mechanical design of a quadruped robot for horizontal ground to vertical wall movement
|
| title_fullStr | Mechanical design of a quadruped robot for horizontal ground to vertical wall movement
|
| title_full_unstemmed | Mechanical design of a quadruped robot for horizontal ground to vertical wall movement
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| title_short | Mechanical design of a quadruped robot for horizontal ground to vertical wall movement
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| title_sort | mechanical design of a quadruped robot for horizontal ground to vertical wall movement |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/2304/1/Alsalameh2000__MechanicalDesignofaQuadruped.pdf http://eprints.utm.my/2304/ |
| url_provider | http://eprints.utm.my/ |