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Design, Analysis, Simulation and Experimental Results for a Rollerblading Robot

[+] Author Affiliations
Sachin Chitta, Frederik W. Heger, Vijay Kumar

University of Pennsylvania, Philadelphia, PA

Paper No. DETC2004-57113, pp. 281-290; 10 pages
doi:10.1115/DETC2004-57113
From:
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME

abstract

We present the design and gait generation for an experimental ROLLERBLADER. The ROLLERBLADER is a robot with a central platform mounted on omnidirectional casters and two 3 degree of freedom legs. A set of passive rollerblading wheels is attached to the end of each leg. The wheels give rise to nonholonomic constraints acting on the robot. The legs can be picked up and placed back on the ground allowing a combination of skating and walking gaits. We present two types of gaits for the robot. In the first gait, the legs are picked up and placed back on the ground. In the second gait, the wheels stay on the ground at all times. Experimental gait results for a prototype robot are also presented.

Copyright © 2004 by ASME
Topics: Robots , Simulation , Design

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