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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

Preceding chapters have laid the foundation for vehicle motion in a ground plane helped by a practical application of a wheeled robot in chapter 3. We will extend these ideas in successive chapters to a hybrid 2-wheeled/2-legged robot, figure 4.1, known as the Rickshaw Robot and a six legged robot, figure 4.2, the Hexapod Robot.

4.1
Introduction
4.2
The 3 degree-of-freedom leg, (3dof leg)
4.3
Leg layout of omni-directional robot
4.4
The leg tip locus
4.5
Translation of the robot body
4.6
Details of the leg tip locus
4.7
Height modification of the rectangular locus
4.8
Leg tip speed along the locus
4.9
Computing leg tip speed as a function of step height and step amplitude
4.10
Leg tip locus design specification
4.11
Achieving the leg tip locus specification via a Digital Locus
4.12
Using the n-variable to increment the leg tip through a walking locus
4.13
The breakpoints of the digital locus, bp1 and bp2
4.14
Distance travelled by leg tip along the digital locus
4.15
Computation of, R, and, Z, values of the leg tip on the digital locus
4.16
The clock; adding time to the control of leg tip position
4.17
Using microcomputers to step the digital locus through a sequence
4.18
The 50Hz, 20ms clock
4.19
The two anti-phase sawtooth waveforms to produce the double tripod gait
4.20
Dynamic Response of the leg servos
4.21
Computing, R, and, Z, values of the Digital Locus using a BS2SX computer program
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