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TECHNICAL PAPERS

Under-Actuated Kinematic Structures for Miniature Climbing Robots

[+] Author and Article Information
Mark A. Minor

Department of Mechanical Engineering, University of Utah, Salt Lake City, UT 84112

Ranjan Mukherjee

Department of Mechanical Engineering, Michigan State University, East Lansing, MI 48824

J. Mech. Des 125(2), 281-291 (Jun 11, 2003) (11 pages) doi:10.1115/1.1564075 History: Received August 01, 2001; Revised September 01, 2002; Online June 11, 2003
Copyright © 2003 by ASME
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References

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Figures

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Mobility comparison between the revolute and prismatic hip bipeds
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DOF requirement for foot placement at an arbitrary location (x,y), with an arbitrary orientation θ
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Schematic of the under-actuated revolute hip biped
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An exploded view of the under-actuated revolute hip biped robot
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Photograph of a working prototype of the under-actuated revolute hip biped robot
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Flipping and crawling strides of locomotion
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Prototype of the prismatic hip biped
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Variations in the middle joint of biped robots
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Partially exploded view of the prismatic hip biped
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Exploded view of one leg of the prismatic hip biped
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Ankle structure of prismatic hip biped
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Range of articulation of ankles of the prismatic hip biped
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The prismatic hip biped walking between different inclined surfaces
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Three modes of under-actuation
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Steering capabilities of the prismatic hip biped
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Walking and steering using the pivoting gait
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Revolute hip biped crossing from a vertical surface to a horizontal ceiling
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Prismatic hip robot climbing a wall
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Prismatic hip robot turning a corner

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