腿的设计，使动态运行和攀登的山猫

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2018-10-01 DOI:10.1109/IROS.2018.8594355

Max P. Austin, Jason M. Brown, Charles Young, Jonathan E. Clark

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引用次数: 10

摘要

腿形态的设计过程从机械手社区获得了很多灵感，包括最大化设计工作空间的概念。在本文中，我们定义了有效动态工作空间的概念，它检查了能够实现所需模板动态的整体工作空间的子集。利用这个新的设计工具，对新型多模式平台BOBCAT的腿配置进行了检查和改进。经过改进的设计，BOBCAT在运行时能够达到2米/秒的速度，在爬垂直墙时能够达到0.17米/秒的速度。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Leg Design to Enable Dynamic Running and Climbing on BOBCAT

The design process for leg morphology has taken much of its inspiration from the manipulator community, including the concept of maximizing the workspace of a design. In this paper, we define the concept of Effective Dynamic Workspace, which examines the subset of the overall workspace capable of achieving the desired template dynamics. With this new design tool, the leg configuration of a new multi-modal platform BOBCAT is examined and refined. With the refined design, BOBCAT is able to achieve speeds of 2m/s while running and 0.17m/s while climbing a vertical wall.

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2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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