TY - GEN
T1 - Motion primitives for a tumbling robot
AU - Hemes, Brett
AU - Fehr, Duc
AU - Papanikolopoulos, Nikolaos P
PY - 2008/12/1
Y1 - 2008/12/1
N2 - The desire for a high mobility-to-size ratio in mobile robots has led to the exploration of many new methods of locomotion, one of which is tumbling. To the authors' knowledge, there are very few tumbling robots in existence and no formalized methods for their control. In this paper we begin addressing these issues by presenting an approach for deriving motion primitives for tumbling robots. We apply our method to the specific case of a two-armed tumbling robot and include the final derived motion primitives. Additionally we discuss in general the motion of tumbling robots and introduce 3 useful gaits derived from the resulting primitives of our approach.
AB - The desire for a high mobility-to-size ratio in mobile robots has led to the exploration of many new methods of locomotion, one of which is tumbling. To the authors' knowledge, there are very few tumbling robots in existence and no formalized methods for their control. In this paper we begin addressing these issues by presenting an approach for deriving motion primitives for tumbling robots. We apply our method to the specific case of a two-armed tumbling robot and include the final derived motion primitives. Additionally we discuss in general the motion of tumbling robots and introduce 3 useful gaits derived from the resulting primitives of our approach.
UR - http://www.scopus.com/inward/record.url?scp=69549103457&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=69549103457&partnerID=8YFLogxK
U2 - 10.1109/IROS.2008.4651072
DO - 10.1109/IROS.2008.4651072
M3 - Conference contribution
AN - SCOPUS:69549103457
SN - 9781424420582
T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 1471
EP - 1476
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Y2 - 22 September 2008 through 26 September 2008
ER -