Study on Mobility of Connected Crawler Robot by Using GA View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2006

AUTHORS

Sho Yokota , Kuniaki Kawabata , Pierre Blazevic , Hisato Kobayashi

ABSTRACT

This paper shows a relationship between the number of crawler links and its climbing ability. We consider a robot that consists of serially connected crawlers and try to let it climb up a step. To derive this relation, the robot has to climb step as high as possible. Therefore each joint require optimized motion to the step. The approach is that; each joint angle function is expanded by the Fourier series, and the coefficients and period are derived by a Genetic Algorithm. While we can get each maximum climb-able step height corresponding to the number of links, we can make clear the relation that the height of the climb-able step increases as the number of crawler links increases. More... »

PAGES

123-130

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/3-540-26415-9_14

DOI

http://dx.doi.org/10.1007/3-540-26415-9_14

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1019285845


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