MATEC Web Conf.
Volume 113, 201712th International Scientific-Technical Conference on Electromechanics and Robotics “Zavalishin’s Readings” - 2017
|Number of page(s)||5|
|Section||Robotics and Automation|
|Published online||20 June 2017|
Trajectory generation for a walking in-pipe robot moving through spatially curved pipes
Southwest State University, Department of Mechanics, Mechatronics and Robotics, 305040 Kursk, Russia
* Corresponding author: firstname.lastname@example.org
In this paper, a walking in-pipe robot is studied. The robot has six legs, each consisting of 3 links connected via rotary joints. The legs are attached to the robot’s body. The work is focused on the problem of generating desired position and orientation for the robot’s body, using a given footstep sequence. An iterative geometric algorithm for generating orientation sequence is proposed. The problem of finding the desired position of the center of mass of the robot’s body is formulated as a problem of minimizing stretching of the robot’s legs during steps. Also, an analytical solution for inverse kinematics problem has been given. All proposed algorithms do not require extensive calculation and use basic algebraic operations.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.