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Mechanical design of a quadruped robot for horizontal ground to vertical wall movement

Sh. I. Alsalameh, Abd Alsalam and H.M. Amin, Shamsudin and Mamat, Rosbi (2000) Mechanical design of a quadruped robot for horizontal ground to vertical wall movement. TENCON 2000. Proceedings , 1 . pp. 213-217.

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Abstract

In this paper, an emphasis is given towards the mechanical structure of a quadruped robot which is able to walk on ground, climb on vertical walls, and perform the ground-wall-movement automatically. An overview of the robot is shown and the configuration, number of DOFs, and actuation system of the leg are analyzed. The biologically inspired gaits of the robot are discussed. The movement of the leg from the ground to the wall is analyzed. The integrated leg movement-trunk regulation sequences are simulated. The trajectories of specific points on the trunk are traced, showing the limits for safe movement inside meandrous chimneys or zigzag tubing

Item Type:Article
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:2304
Deposited By: Dr Zaharuddin Mohamed
Deposited On:11 Apr 2007 06:07
Last Modified:01 Jun 2010 03:02

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