Christopher V. Meaclem, S. Gutschmidt, Xiaoqi Chen, R. Parker
{"title":"Kinematic and dynamic analysis of a brachiating tree-to-tree machine","authors":"Christopher V. Meaclem, S. Gutschmidt, Xiaoqi Chen, R. Parker","doi":"10.1109/ROBIO.2015.7418952","DOIUrl":null,"url":null,"abstract":"A novel brachiating, biped mobility platform for tree to tree traversal is analyzed by its kinematics and dynamics. The machine performs brachiation in the horizontal plane. Firstly, the kinematic model is derived then used to investigate the workspace of the end effector. The optimal grasping location is identified through the Yoshikawa manipulability measure. Secondly, actuator performance and limitations are identified through dynamic analysis of joint torques. Pose optimization is identified and the coupling with inertia is determined.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2015.7418952","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
Abstract
A novel brachiating, biped mobility platform for tree to tree traversal is analyzed by its kinematics and dynamics. The machine performs brachiation in the horizontal plane. Firstly, the kinematic model is derived then used to investigate the workspace of the end effector. The optimal grasping location is identified through the Yoshikawa manipulability measure. Secondly, actuator performance and limitations are identified through dynamic analysis of joint torques. Pose optimization is identified and the coupling with inertia is determined.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
