Trajectory planning for climbing robot with non-rigid legs

被引：0
|
作者：
Akinfiev, T [1 ]
Armada, M [1 ]
机构：
[1] Consejo Super Invest Cientif, Inst Automat Ind, Madrid, Spain
来源：
PROCEEDINGS OF THE THIRD INTERNATIONAL CONFERENCE ON CLIMBING AND WALKING ROBOTS | 2000年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper questions related to the occurrence of departures of walking robot from the given trajectory are considered. These departures result from gravity and are of systematic character. They develop when robot is moving upon an inclined plane or vertical surface and are due to the presence of backlashes and non-rigidities in robot kinematic structure.
引用
收藏
页码：407 / 414
页数：8
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