Show simple item record

contributor authorCharlet, Mark
contributor authorGosselin, Clément
date accessioned2022-05-08T09:04:18Z
date available2022-05-08T09:04:18Z
date copyright3/4/2022 12:00:00 AM
date issued2022
identifier issn2770-3495
identifier otheraoje_1_011009.pdf
identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4284697
description abstractBased on the cat-righting reflex, this paper presents two reorientation maneuvers for legged robots that can produce roll and pitch reorientation during free fall. In order to better describe and plan these maneuvers, two separate, but equivalent, theoretical frameworks that describe the kinematic and dynamic behavior of free-floating articulated architectures are explored and developed. A nine-degree-of-freedom quadruped robot architecture is then presented and used to demonstrate the proposed maneuvers. Finally, kinematic and dynamic simulations of this architecture are performed. The results validate the presented theoretical framework and demonstrate that both roll and pitch reorientations are obtained through the application of the presented maneuvers.
publisherThe American Society of Mechanical Engineers (ASME)
titleReorientation of Free-Falling Legged Robots
typeJournal Paper
journal volume1
journal titleASME Open Journal of Engineering
identifier doi10.1115/1.4053897
journal fristpage11009-1
journal lastpage11009-10
page10
treeASME Open Journal of Engineering:;2022:;volume( 001 )
contenttypeFulltext


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record