Under-Actuated Kinematic Structures for Miniature Climbing Robots

Mark A. Minor; Ranjan Mukherjee

doi:10.1115/1.1564075

Journal of Mechanical Design | Volume 125 | Issue 2 | TECHNICAL PAPERS

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TECHNICAL PAPERS

Under-Actuated Kinematic Structures for Miniature Climbing Robots

Mark A. Minor, Assistant Professor, Mem. ASME and Ranjan Mukherjee, Associate Professor, Mem. ASME

[+] 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

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Variations in the middle joint of biped robots

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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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Minor MA, Mukherjee R. Under-Actuated Kinematic Structures for Miniature Climbing Robots. ASME. J. Mech. Des. 2003;125(2):281-291. doi:10.1115/1.1564075.

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Under-Actuated Kinematic Structures for Miniature Climbing Robots

References

Figures

Variations in the middle joint of biped robots

Mobility comparison between the revolute and prismatic hip bipeds

DOF requirement for foot placement at an arbitrary location (x,y), with an arbitrary orientation θ

Schematic of the under-actuated revolute hip biped

An exploded view of the under-actuated revolute hip biped robot

Photograph of a working prototype of the under-actuated revolute hip biped robot

Flipping and crawling strides of locomotion

Prototype of the prismatic hip biped

Partially exploded view of the prismatic hip biped

Exploded view of one leg of the prismatic hip biped

Ankle structure of prismatic hip biped

Range of articulation of ankles of the prismatic hip biped

The prismatic hip biped walking between different inclined surfaces

Three modes of under-actuation

Steering capabilities of the prismatic hip biped

Walking and steering using the pivoting gait

Revolute hip biped crossing from a vertical surface to a horizontal ceiling

Prismatic hip robot climbing a wall

Prismatic hip robot turning a corner

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