Title :
Theoretical and experimental studies of transverse dimensional gait of five-link mobile robot on rough surface
Author :
Sergey Jatsun;Lyudmila Vorochaeva;Andrey Yatsun;Andrei Malchikov
Author_Institution :
Southwest State University, The Department of Mechanics, Mechatronics and Robotics Kursk, Russia
Abstract :
In this article we discuss spatial motion of a five-link crawling robot equipped with special frictional elements for the fixation of the links onto the surface, which is realized in the form of a sequence of stages that correspond to a certain gait on a rough horizontal surface.
Keywords :
"Friction","Robot kinematics","Rough surfaces","Surface roughness","Kinematics","Actuators"
Conference_Titel :
Mechatronics and its Applications (ISMA), 2015 10th International Symposium on
DOI :
10.1109/ISMA.2015.7373464
