Kinematic design of crab-like legged vehicles

Liu, A; Howard, D

Abstract

In this paper, the kinematic workspace characteristics of a
crab-like legged vehicle are investigated using a 2-D model.
The alternative kinematic configurations and their corresponding workspace constraints are discussed, and the
vehicle configuration of most interest identified. It is shown
that, for constant vehicle body attitude, only two parameters
affect the kinematic workspace, foot overlap and thigh
length. Analytical methods for calculating the workspace
characteristics are presented and, using these methods, the
effects of the design geometry on the kinematic workspace
are investigated.

Citation

Liu, A., & Howard, D. Kinematic design of crab-like legged vehicles. Robotica, 19(01), 67-77. https://doi.org/10.1017/S0263574700002861

• Journal Article Type: Article
• Deposit Date: Feb 23, 2012
• Publicly Available Date: Apr 5, 2016
• Journal: Robotica
• Print ISSN: 0263-5747
• Publisher: Cambridge University Press (CUP)
• Peer Reviewed: Peer Reviewed
• Volume: 19
• Issue: 01
• Pages: 67-77
• DOI: https://doi.org/10.1017/S0263574700002861
• Publisher URL: http://dx.doi.org/10.1017/S0263574700002861