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Intrinsic geometric path for a new k...

Liu, Yan.

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Intrinsic geometric path for a new kinematic template.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Intrinsic geometric path for a new kinematic template./
作者:	Liu, Yan.
面頁冊數:	75 p.
附註:	Source: Masters Abstracts International, Volume: 53-04.
Contained By:	Masters Abstracts International53-04(E).
標題:	Mechanical engineering. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1562396
ISBN:	9781321095210

Intrinsic geometric path for a new kinematic template.
Liu, Yan.

Intrinsic geometric path for a new kinematic template. - 75 p.

Source: Masters Abstracts International, Volume: 53-04.

Thesis (M.S.)--University of Delaware, 2014.

OctoRoACH is a miniature eight legged robot which is envisioned to be a step toward the development of small crawling robots that can be used for reconnaissance, search and rescue, sensor coverage, etc. To enable the robot to complete task along these lines, it is necessary to solve the motion planning problem for these types of robotic platforms. In this thesis, we study a kinematic model that serves as an abstraction of the quasi-static motion behavior of the OctoRoACH robot. We see the eight-legged mechanism being abstracted into a switching four-bar linkage. Three motion primitives are defined for this model: straight line motion, left turn arc and right turn arc. The work described in this thesis contributes by providing a method to quantify the radius of curvature of the curved paths generated by this kinematic model. Once the link between model parameters and path curvatures is made, then the wealth of existing motion planning methods, specifically the ones that involve a well studied nonholonomic kinematic model known as the Dubin's car, become relevant to the kinematic analysis and the study of the motion planning problem in these miniature robots.

ISBN: 9781321095210Subjects--Topical Terms:

649730
Mechanical engineering.

Intrinsic geometric path for a new kinematic template.
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520 $a OctoRoACH is a miniature eight legged robot which is envisioned to be a step toward the development of small crawling robots that can be used for reconnaissance, search and rescue, sensor coverage, etc. To enable the robot to complete task along these lines, it is necessary to solve the motion planning problem for these types of robotic platforms. In this thesis, we study a kinematic model that serves as an abstraction of the quasi-static motion behavior of the OctoRoACH robot. We see the eight-legged mechanism being abstracted into a switching four-bar linkage. Three motion primitives are defined for this model: straight line motion, left turn arc and right turn arc. The work described in this thesis contributes by providing a method to quantify the radius of curvature of the curved paths generated by this kinematic model. Once the link between model parameters and path curvatures is made, then the wealth of existing motion planning methods, specifically the ones that involve a well studied nonholonomic kinematic model known as the Dubin's car, become relevant to the kinematic analysis and the study of the motion planning problem in these miniature robots.
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