A scalable, modular leg design for multi-legged stair climbing robots
Improving robustness of walking robots has always been problematic. Their complex kinematics and locomotion has always been prone to damage: a broken cable, an unstable foothold or a wrong set of parameters has been an everlasting source of frustration. Nature developed an extraordinary robustness t...
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| Altres autors: | , , , |
| Format: | article |
| Idioma: | espanyol |
| Publicat: |
2018
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| Accés en línia: | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1894 http://ridda2.utp.ac.pa/handle/123456789/5799 |
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| _version_ | 1869652470535290880 |
|---|---|
| author | Buettner, T. |
| author2 | Wilke, D. Roennau, A. Heppner, G. Dillmann, R. |
| author2_role | author author author author |
| author_browse | Buettner, T. Dillmann, R. Heppner, G. Roennau, A. Wilke, D. |
| author_facet | Buettner, T. Wilke, D. Roennau, A. Heppner, G. Dillmann, R. |
| author_role | author |
| collection | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| dc.contributor.none.fl_str_mv | |
| dc.creator.none.fl_str_mv | Buettner, T. Wilke, D. Roennau, A. Heppner, G. Dillmann, R. |
| dc.date.none.fl_str_mv | 2018-11-26 2018-12-04T14:32:13Z 2018-12-04T14:32:13Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1894 http://ridda2.utp.ac.pa/handle/123456789/5799 |
| dc.language.none.fl_str_mv | spa |
| dc.publisher.none.fl_str_mv | Universidad Tecnológica de Panamá |
| dc.relation.none.fl_str_mv | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1894/pdf |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/openAccess https://creativecommons.org/licenses/by-nc-sa/4.0/ |
| dc.source.none.fl_str_mv | Memorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018; 143-152 reponame:Repositorio Institucional de documento digitales de acceso abierto de la UTP instname:Universidad Tecnológica de Panamá instacron:U Tecnológica de Panamá |
| dc.subject.none.fl_str_mv | Mechanical Design; Legged Locomotion; Assistive Robots; Walking Robots; Modular Robots. |
| dc.title.none.fl_str_mv | A scalable, modular leg design for multi-legged stair climbing robots |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion |
| description | Improving robustness of walking robots has always been problematic. Their complex kinematics and locomotion has always been prone to damage: a broken cable, an unstable foothold or a wrong set of parameters has been an everlasting source of frustration. Nature developed an extraordinary robustness through redundancy and fast adaptation. Theories about decentralized nervous systems has inspired this paper with a novel approach. The presented solution aims at relocating low-level walking behaviours to a network of computers and, more exactly, into the robots individual legs. This paper will not cover the full scope of the software implementation (this is a eld found especially in modular robotics), but presents how such an encapsulated leg with all necessary hardware is built and focuses on the mechanical and kinematic aspect of such legs. It highlights how a robotic leg needs to be designed to tackle structured environments serves as explanatory guide through the design process of legs with integrated PCU and sensors. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | lrtest_92600124bafa0c8f5df45d997a65ac7e |
| instacron_str | U Tecnológica de Panamá |
| institution | U Tecnológica de Panamá |
| instname_str | Universidad Tecnológica de Panamá |
| language | spa |
| network_acronym_str | lrtest |
| network_name_str | lr |
| oai_identifier_str | oai:ridda2.utp.ac.pa:123456789/5799 |
| publishDate | 2018 |
| publishDateSort | 2018 |
| publisher.none.fl_str_mv | Universidad Tecnológica de Panamá |
| reponame_str | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| rights_invalid_str_mv | https://creativecommons.org/licenses/by-nc-sa/4.0/ |
| spelling | A scalable, modular leg design for multi-legged stair climbing robotsBuettner, T.Wilke, D.Roennau, A.Heppner, G.Dillmann, R.Mechanical Design; Legged Locomotion; Assistive Robots; Walking Robots; Modular Robots.Improving robustness of walking robots has always been problematic. Their complex kinematics and locomotion has always been prone to damage: a broken cable, an unstable foothold or a wrong set of parameters has been an everlasting source of frustration. Nature developed an extraordinary robustness through redundancy and fast adaptation. Theories about decentralized nervous systems has inspired this paper with a novel approach. The presented solution aims at relocating low-level walking behaviours to a network of computers and, more exactly, into the robots individual legs. This paper will not cover the full scope of the software implementation (this is a eld found especially in modular robotics), but presents how such an encapsulated leg with all necessary hardware is built and focuses on the mechanical and kinematic aspect of such legs. It highlights how a robotic leg needs to be designed to tackle structured environments serves as explanatory guide through the design process of legs with integrated PCU and sensors.Universidad Tecnológica de Panamá2018-11-262018-12-04T14:32:13Z2018-12-04T14:32:13Zinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://revistas.utp.ac.pa/index.php/memoutp/article/view/1894http://ridda2.utp.ac.pa/handle/123456789/5799Memorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018; 143-152reponame:Repositorio Institucional de documento digitales de acceso abierto de la UTPinstname:Universidad Tecnológica de Panamáinstacron:U Tecnológica de Panamáspahttp://revistas.utp.ac.pa/index.php/memoutp/article/view/1894/pdfinfo:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/4.0/oai:ridda2.utp.ac.pa:123456789/57992019-11-29T17:34:17Z |
| spellingShingle | A scalable, modular leg design for multi-legged stair climbing robots Buettner, T. Mechanical Design; Legged Locomotion; Assistive Robots; Walking Robots; Modular Robots. |
| status_str | publishedVersion |
| title | A scalable, modular leg design for multi-legged stair climbing robots |
| title_full | A scalable, modular leg design for multi-legged stair climbing robots |
| title_fullStr | A scalable, modular leg design for multi-legged stair climbing robots |
| title_full_unstemmed | A scalable, modular leg design for multi-legged stair climbing robots |
| title_short | A scalable, modular leg design for multi-legged stair climbing robots |
| title_sort | A scalable, modular leg design for multi-legged stair climbing robots |
| topic | Mechanical Design; Legged Locomotion; Assistive Robots; Walking Robots; Modular Robots. |
| url | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1894 http://ridda2.utp.ac.pa/handle/123456789/5799 |