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Precision Programming of Roving Robots: Project-Based Fundamentals of Wheeled, Legged and Hybrid Mobile Robots

By
Francis Nickols
Francis Nickols
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Yueh-Jaw Lin
Yueh-Jaw Lin
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ISBN:
9780791861912
No. of Pages:
304
Publisher:
ASME Press
Publication date:
2019

The basic theory of motion of vehicles in a ground plane was covered in chapter 1 where a vehicle can be either a legged or wheeled device. Chapter 3 then used this theory to give motion to a Tricycle Robot which is a 3-wheeled vehicle with no legs. Chapters 4 to 9 then build up a theory of legged motion for a single 3 dof leg. The most important operational technique of leg motion is the ability to guide the leg tip through a programmably shaped and directioned locus, which is explained in chapter 4, and then to develop walking...

10.1
Introduction
10.2
Steering kinematics of the Tricycle and Rickshaw Robots
10.3
Plan view geometry of the Rickshaw Robot
10.4
The Central Pattern Generator, the CPG
10.5
Rotating the LF and RF legs by 30° to become parallel
10.6
The Figure-of-Eight path and how to negotiate it with the Rickshaw Robot
10.7
Plan for negotiating the Figure-of-Eight
10.8
Computing the Algorithm for negotiating the Figure-of-Eight path
10.9
The Basic Stamp Central Pattern Generator Code
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