![]() New bounds on the number of frictionless fingers required to immobilize planar objects. In Lecture Notes in Computer Science, volume 519, pages 214–227. Macmillan 1876, republished by Dover, NY, 1963. on Robotics and Automation, pages 1377–1383, 1999. Design of a spider robot for motion with quasistatic force constraints. Performance measures for locomotion robots. on Robotics and Automation, pages 1592–1597, 1989. Powered flights, child’s play, silly wheels and walking machines. on Robotics and Automation, pages 474–480, 1997. Gait planning for energy efficiency in walking machines. Generalized standard foot trajectory for a quadruped walking vehicle. on Robotics and Automation, pages 2321–2326, 1992. Robug iii - the design of an eight legged teleoperated walking and climbing robot for disordered hazardous environments. on Robotics and Automation, pages 233–239, 1992. Motion planning of mobile multi-limb robotic systems subject to force and friction constraints. Coordinated motion and force control of multi-limbed robotic systems. In 13th World Congress of Automatic Control, San Francisco, USA, 1996. Control and design of a pipe crawling robot. Tube-crawling robot: Modeling and optimization. In IEEE/RSJ/GI International Conference on Intelligent Robots and Systems, pages 2:1178–1185, 1994.į. Spider-like robot that climbs vertically in ducts or pipes. on Intelligent Autonomous Systems, pages 64–71, 1993. Locomotion with articulated legs in pipes or ducts. Mobility of bodies in contact-ii: How forces are generated by curvature effects. Mobility of bodies in contact-i: A 2nd order mobility index for multiple-finger grasps. This process is experimental and the keywords may be updated as the learning algorithm improves.Į. These keywords were added by machine and not by the authors. The spider has been built and is currently undergoing locomotion experiments. The spider will move under a worst-case assumption of slippery tunnel walls, and we also describe a locomotion strategy for the spider under this assumption Finally, we describe an immobilization-based control algorithm for executing the motion strategy, and sketch a stability proof for the algorithm. We review the relevant components of the immobilization theory and describe its implications for the spider design. The theory dictates the minimum number of limbs such a spider can have, as well as the curvature of the spider footpads. The design has been strongly influenced by the recent immobilization theory of Rimon and Burdick. The spider moves in a quasistatic manner, by stably bracing itself against the tunnel walls while moving its free parts to the next position. This paper discusses a novel four-legged “spider” robot capable of moving in a wide range of two-dimensional tunnels.
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