DocumentCode :
1703665
Title :
A multiple monopedal robots system for universal transportation
Author :
Kobayashi, Hiroyuki ; Miyauchi, Daichi ; Hashimoto, Hiroshi
Author_Institution :
Dept. of Biomed. Eng., Osaka Inst. of Technol., Osaka, Japan
fYear :
2009
Firstpage :
1756
Lastpage :
1760
Abstract :
This paper deals with a new object transportation scheme performed by a herd of autonomous monopedal robots. The system is named as ldquoUniversal Unipods,rdquo in which each robot is attached on a load to be transported and works as if it were one of the legs of a large multipedal robot. The system is designed not only for generality of application but also for easiness of operation. The authors show its concept and verify its validity by computer simulations that employs ODE for physical computation. They are also developing experimental robots in real, whose basic design is described in this paper.
Keywords :
control system synthesis; digital simulation; mobile robots; multi-robot systems; path planning; ODE; Universal Unipods; computer simulation; multiple monopedal robots system; universal transportation; Biomedical engineering; Control systems; Electrical equipment industry; Humans; Industrial control; Leg; Legged locomotion; Mobile robots; Service robots; Transportation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Applications, (CCA) & Intelligent Control, (ISIC), 2009 IEEE
Conference_Location :
St. Petersburg
Print_ISBN :
978-1-4244-4601-8
Electronic_ISBN :
978-1-4244-4602-5
Type :
conf
DOI :
10.1109/CCA.2009.5280885
Filename :
5280885
Link To Document :
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