TY - GEN
T1 - Locomotion approach of REMORA
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
AU - Yang, Hai
AU - Krut, Sébastien
AU - Baradat, Cédric
AU - Pierrot, François
PY - 2011
Y1 - 2011
N2 - This paper presents the locomotion approach of a novel quadruped robot which is able to carry various effectors for achieving manufacturing tasks in large workspaces. Equipped with lockers on some of the passive joints and clamping devices at the end of its limbs, this quadruped uses eight actuators for achieving manufacturing tasks as well as locomotion tasks. In the following sections, we first present the proposed robot and its two working modes. Then, the locking strategy of the robot is formulated as an optimization problem. Also, a practical method for managing the limbs swinging movement is addressed. At last, the presented approach is applied on two concrete examples. Possessing a low degree of kinematic redundancy, the proposed quadruped shows a reasonable locomotion capacity which allows it to achieve locomotion with respect to some extra constrains in its workspaces.
AB - This paper presents the locomotion approach of a novel quadruped robot which is able to carry various effectors for achieving manufacturing tasks in large workspaces. Equipped with lockers on some of the passive joints and clamping devices at the end of its limbs, this quadruped uses eight actuators for achieving manufacturing tasks as well as locomotion tasks. In the following sections, we first present the proposed robot and its two working modes. Then, the locking strategy of the robot is formulated as an optimization problem. Also, a practical method for managing the limbs swinging movement is addressed. At last, the presented approach is applied on two concrete examples. Possessing a low degree of kinematic redundancy, the proposed quadruped shows a reasonable locomotion capacity which allows it to achieve locomotion with respect to some extra constrains in its workspaces.
UR - http://www.scopus.com/inward/record.url?scp=84455172075&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048538
DO - 10.1109/IROS.2011.6048538
M3 - Conference contribution
AN - SCOPUS:84455172075
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5067
EP - 5072
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Y2 - 25 September 2011 through 30 September 2011
ER -