A motion planning for toppling-motion of a TET walker
- Resource Type
- Conference
- Authors
- Izadi, Maziar; Mahjoob, M. J.; Soheilypour, Mohammad; Vahid-Alizadeh, Hossein
- Source
- 2010 The 2nd International Conference on Computer and Automation Engineering (ICCAE) Computer and Automation Engineering (ICCAE), 2010 The 2nd International Conference on. 2:34-39 Feb, 2010
- Subject
- Computing and Processing
Robotics and Control Systems
Orbital robotics
Mobile robots
Robotics and automation
Legged locomotion
Mechatronics
Mechanical engineering
Educational institutions
Kinematics
Prototypes
Space exploration
Tetrahedral walker
motion planing
Mobile robot kinematics
- Language
A TET Walker is a tetrahedral rover made to extend space exploration into inaccessible regions. A motion planning strategy for a tetrahedral walker is developed here. A tetrahedral rover with 6 length-variable struts and 4 nodes is considered. The kinematics of the robot is studied to find the possibility of toppling of the robot. The robot dynamics is also investigated to see when and with which configuration of nodes it would topple. A motion algorithm is then proposed to move the robot to the target.