Motion planning for a two-link planar robot in a viscous environment

被引：0
|
作者：
Babikian, Sevag [1 ]
Shammas, Elie [1 ]
Asmar, Daniel [1 ]
机构：
[1] Amer Univ Beirut, Dept Mech Engn, Beirut, Lebanon
来源：
2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2012年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper is concerned with gait generation for the simplest underactuated multi-link robot. This robot is realized by a two-link planar system that locomotes in a viscous environment due to the existence of friction pads along its body. The proposed solution of the motion planning problem yields both a control gait for the inter-link angle as well as the location of the friction pad to produce a desired motion of the system.
引用
收藏
页码：888 / 895
页数：8
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