A motion planning for toppling-motion of a TET walker

Author

Izadi, Maziar ; Mahjoob, M.J. ; Soheilypour, Mohammad ; Vahid-Alizadeh, Hossein

Author_Institution

Sch. of Mech. Eng., Univ. of Tehran, Tehran, Iran

Volume

2

fYear

2010

fDate

26-28 Feb. 2010

Firstpage

34

Lastpage

39

Abstract

A TET Walker is a tetrahedral rover made to extend space exploration into inaccessible regions. A motion planning strategy for a tetrahedral walker is developed here. A tetrahedral rover with 6 length-variable struts and 4 nodes is considered. The kinematics of the robot is studied to find the possibility of toppling of the robot. The robot dynamics is also investigated to see when and with which configuration of nodes it would topple. A motion algorithm is then proposed to move the robot to the target.

Keywords

mobile robots; motion control; path planning; planetary rovers; robot dynamics; robot kinematics; TET Walker; motion planning strategy; robot dynamics; robot kinematics; tetrahedral rover; toppling-motion; Educational institutions; Kinematics; Legged locomotion; Mechanical engineering; Mechatronics; Mobile robots; Orbital robotics; Prototypes; Robotics and automation; Space exploration; Mobile robot kinematics; Tetrahedral walker; motion planing;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer and Automation Engineering (ICCAE), 2010 The 2nd International Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-5585-0

Electronic_ISBN

978-1-4244-5586-7

Type

conf

DOI

10.1109/ICCAE.2010.5451369

Filename

5451369