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1 results

Kinematic design of crab-like legged vehicles
Anmin Liu, David Howard
Journal:

Robotica / Volume 19 / Issue 1 / January 2001

Published online by Cambridge University Press:

12 January 2001, pp. 67-77
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In this paper, the kinematic workspace characteristics of a crab-like legged vehicle are investigated using a 2-D model. The alternative kinematic configurations and their corresponding workspace constraints are discussed, and the vehicle configuration of most interest identified. It is shown that, for constant vehicle body attitude, only two parameters affect the kinematic workspace, foot overlap and thigh length. Analytical methods for calculating the workspace characteristics are presented and, using these methods, the effects of the design geometry on the kinematic workspace are investigated.