The inchworm robot: A multi-functional system

被引：57

作者：

Kotay, K ^{[1
]}

Rus, D ^{[1
]}

机构：

[1] Dartmouth Coll, Dept Comp Sci, Dartmouth Robot Lab, Hanover, NH 03755 USA

来源：

AUTONOMOUS ROBOTS | 2000年 / 8卷 / 01期

基金：

美国国家科学基金会;

关键词：

inchworm robot; three-dimensional navigation; three-dimensional manipulation; minimalism;

D O I：

10.1023/A:1008940918825

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We wish for robots to manipulate objects and move flexibly in three-dimensional spaces. We describe a robot that can move on a web of surfaces oriented around arbitrary directions in three-space and a set of control algorithms that implements motion in three-dimensions. The robot can manipulate objects in three dimensions while moving, by using the same set of physical resources and control algorithms. This robot is an inchworm-like robot with a simple, modular, and flexible design. Finally, we discuss our experiments.

引用

页码：53 / 69

页数：17

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