| Title | Design and Motion Planning of a Metamorphic Flipping Robot |
| Author | |
| Corresponding Author | Dai, Jian S. |
| Publication Years | 2022-12-01
|
| DOI | |
| Source Title | |
| EISSN | 2076-0825
|
| Volume | 11Issue:12 |
| Abstract | With the advantages of high flexibility, strong adaptability, etc., the legged robot can help humans to complete numerous complicated tasks. In this paper, a kind of reconfigurable legged robot with a flexible waist was proposed. Compared with the common robots with a rigid trunk, the proposed robot can twist its waist flexibly. Through analysis, it is found that the flexible waist can improve the trunk workspace, foot endpoints' workspace and static stability margin of the robot, and further enhance the motion performance of the robot. Meanwhile, by imitating the creatures in nature, the motion gait planning of the robot was provided. Additionally, the proposed robot has excellent reconfigurable characteristics, and can flexibly transform among three forms to adapt to different working environments and accomplish different tasks. Further, after capsizing, the robot can complete the motion of turning over more easily. In this paper, the reconfiguration posture and the motion of turning over of the robot were planned in detail, and finally verified by ADAMS simulation. |
| Keywords | |
| URL | [Source Record] |
| Indexed By | |
| Language | English
|
| SUSTech Authorship | Corresponding
|
| WOS Research Area | Engineering
; Instruments & Instrumentation
|
| WOS Subject | Engineering, Mechanical
; Instruments & Instrumentation
|
| WOS Accession No | WOS:000934063300001
|
| Publisher | |
| Data Source | Web of Science
|
| Citation statistics |
Cited Times [WOS]:0
|
| Document Type | Journal Article |
| Identifier | http://kc.sustech.edu.cn/handle/2SGJ60CL/490027 |
| Department | Department of Mechanical and Energy Engineering |
| Affiliation | 1.Tianjin Univ, Int Ctr Adv Mech & Robot, Key Lab Mech Theory & Equipment Design, Minist Educ, Tianjin 300350, Peoples R China 2.Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen 518000, Peoples R China 3.Kings Coll London, Ctr Robot Res, London WC2R 2LS, England |
| Corresponding Author Affilication | Department of Mechanical and Energy Engineering |
| Recommended Citation GB/T 7714 |
Guan, Yuntao,Zhuang, Zheming,Zhang, Chunsong,et al. Design and Motion Planning of a Metamorphic Flipping Robot[J]. ACTUATORS,2022,11(12).
|
| APA |
Guan, Yuntao,Zhuang, Zheming,Zhang, Chunsong,Tang, Zhao,Zhang, Ze,&Dai, Jian S..(2022).Design and Motion Planning of a Metamorphic Flipping Robot.ACTUATORS,11(12).
|
| MLA |
Guan, Yuntao,et al."Design and Motion Planning of a Metamorphic Flipping Robot".ACTUATORS 11.12(2022).
|
| Files in This Item: | There are no files associated with this item. | |||||
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