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- W2000963486 abstract "Intelligent Mobility Platform with Active Spoke System (IMPASS) is a novel wheel-leg hybrid robot that can walk in unstructured environments by stretching in or out three independently actuated spokes of each wheel. This paper firstly introduces the latest prototype of the robot that has two actuated spoke wheels and one tail. Due to its metamorphic configurations, this robot can be considered as a mechanism with variable topologies (MVTs). The mobility analysis in previous work is briefly summarized and then the transformation relationships between different configurations are addressed. Thus, the motions of the robot on the ground, such as steering, straight-line walking and other combinations can be uniformly interpreted as series of configuration transformations. In order to maintain the coherence between the coordinate setups in different configurations, previous rigid body kinematic models are modified. Two types of turning, steady state turning and turning gait transition, are revisited with the characteristics being refined. Finally, the hardware design of the prototype is demonstrated, followed by the experimental verifications of the characteristic motions. The work presented in this paper lays the kinematics foundation for the future research on the motion planning algorithms of IMPASS." @default.
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- W2000963486 date "2009-01-01" @default.
- W2000963486 modified "2023-09-26" @default.
- W2000963486 title "Kinematic Analysis and Experimental Verification on the Steering Characteristics of a Two Actuated Spoke Wheel Robot With a Tail" @default.
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- W2000963486 doi "https://doi.org/10.1115/detc2009-87076" @default.
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