TY - GEN
T1 - Motion analysis of an ellipsoidal kinematic closed chain
AU - Melo, Kamilo
AU - Velasco, Alexandra
AU - Parra, Carlos
PY - 2011
Y1 - 2011
N2 - Concerning robotics, one topic of interest is locomotion and specifically non-conventional locomotion that can be oriented to design robots that could pass through different surfaces in an autonomous way, with the lower power consumption possible. An approach to it, is a modular snake robot in a closed chain configuration (as a rolling wheel) instead of a creeping locomotion. In this article we propose a general framework for analyzing the rolling motion of a closed robotic chain. We give a general view of the state of the art concerning limbless locomotion; we explain the kinodynamics of the proposed robot and its motion, we obtain a model based on the inverted pendulum analysis, and we present the steps to follow for the analysis of any closed kinematic chain. Results are compared with experiments reported by other authors using the CKBot modular robot in dynamic rolling locomotion configuration. Sãome metrics are alSão used to validate the analysis and make a compariSãon between experiments done with the real robot, and the model proposed here.
AB - Concerning robotics, one topic of interest is locomotion and specifically non-conventional locomotion that can be oriented to design robots that could pass through different surfaces in an autonomous way, with the lower power consumption possible. An approach to it, is a modular snake robot in a closed chain configuration (as a rolling wheel) instead of a creeping locomotion. In this article we propose a general framework for analyzing the rolling motion of a closed robotic chain. We give a general view of the state of the art concerning limbless locomotion; we explain the kinodynamics of the proposed robot and its motion, we obtain a model based on the inverted pendulum analysis, and we present the steps to follow for the analysis of any closed kinematic chain. Results are compared with experiments reported by other authors using the CKBot modular robot in dynamic rolling locomotion configuration. Sãome metrics are alSão used to validate the analysis and make a compariSãon between experiments done with the real robot, and the model proposed here.
UR - http://www.scopus.com/inward/record.url?scp=83455179588&partnerID=8YFLogxK
U2 - 10.1109/LARC.2011.6086798
DO - 10.1109/LARC.2011.6086798
M3 - Conference contribution
AN - SCOPUS:83455179588
SN - 9781457716904
T3 - 2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings
BT - 2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings
T2 - 2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011
Y2 - 1 October 2011 through 4 October 2011
ER -