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An optimization procedure regarding shape of usable workspace and antagonistic stiffness is developed for a redundantly actuated parallel manipulator. The kinematic parameters such as configuration of the mechanism and length of linkages are optimized to maximize and equal out antagonistic stiffness of the redundantly actuated manipulator when the shape of usable workspace is given as a rectangle...
We presents a high-payload climbing robot based on a compliant track-wheel mechanism. The compliant track-wheel mechanism changes the configuration of the robot according to the conditions of the external structures without feedback control; and the robot can perform 90-degree wall-to-wall internal and 240-degree wall-to-wall external transitions. Segmented magnets on the track-wheel are used to attach...
Recent research on mobile robots is focused on locomotion in various environments. In this paper gait generation algorithm for a mobile robot that can locomote from ground to wall and climb vertical surfaces is proposed bio-inspired by a gecko lizard. The gait planning is based on the inverse-kinematics with the Jacobian of whole body, where the redundancy is solved by defining an object function...
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