Khairul Shariman Bin Kalid, P. Sebastian, A. B. Saman
{"title":"TriBot: Dragging locomotion three-finger robot","authors":"Khairul Shariman Bin Kalid, P. Sebastian, A. B. Saman","doi":"10.1109/ISIEA.2011.6108737","DOIUrl":null,"url":null,"abstract":"In mobile robotics, sometimes a non-conventional locomotion is more suitable where the terrain is rough, uneven, unstable surface or the path has only small opening for maneuvering such as in a search and rescue situation, exploration of hostile area or handling of hazardous materials. Dragging is a type of non-conventional locomotion has the benefits of being physically small, able to move on rough surface and simple to implement. This paper describes a tele-operated three-finger robot that uses dragging to achieve locomotion. Through coordinated motion of the three fingers, it can move forward, backward, left and right by dragging its body.","PeriodicalId":110449,"journal":{"name":"2011 IEEE Symposium on Industrial Electronics and Applications","volume":"22 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2011-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2011 IEEE Symposium on Industrial Electronics and Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISIEA.2011.6108737","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
In mobile robotics, sometimes a non-conventional locomotion is more suitable where the terrain is rough, uneven, unstable surface or the path has only small opening for maneuvering such as in a search and rescue situation, exploration of hostile area or handling of hazardous materials. Dragging is a type of non-conventional locomotion has the benefits of being physically small, able to move on rough surface and simple to implement. This paper describes a tele-operated three-finger robot that uses dragging to achieve locomotion. Through coordinated motion of the three fingers, it can move forward, backward, left and right by dragging its body.
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