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《Journal of Beijing Institute of Machinery》 2006-04
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Nonholonomic kinematic plan for RRRobot

ZHANG Zi-guang~1,GE Xin-sheng~2(1.Department of Mechanical Engineering,Beijing Institute of Machinery,Beijing 100085,China;2.Division of Basic Courses,Beijing Institute of Machinery,Beijing 100085,China)  
Legged robot RHex(Hexapod Robot)offers flat terrain mobility,but sometimes its locomotion may fail in tough terrain.It can disengage such situation by wiggling its legs.RRRobot(Rocking and Rolling Robot)is the simplification of high-centered RHex.In the condition that the system angular momentum is zero,the dynamic equation can be reduced to be a nonholonomic kinematic equation.The control of system can be converted to the motion planning problem for a driftless system.The body of RRRobot can be turned to the expected position by planning the legs wiggle.The results of numeral simulation illustrates that this locomotion plan for yaw model RRRobot is effective.
【Fund】: 国家自然科学基金资助项目(10372014)
【CateGory Index】: TP242
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