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Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051014.
Paper No: JMR-22-1102
Published Online: December 9, 2022
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The proposed tethered robot will ( a ) walk to the object, ( b ) climb the ...
Published Online: December 9, 2022
Fig. 1 The proposed tethered robot will ( a ) walk to the object, ( b ) climb the object, ( c ) grasp the object, and ( d ) be pulled by the tether while grasping the object More
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Dual Klann leg: Drive DOF to produce gait, lift DOF to lift legs up and dow...
Published Online: December 9, 2022
Fig. 2 Dual Klann leg: Drive DOF to produce gait, lift DOF to lift legs up and down, length of seven Klann links (from r 1 to r 7 ), the position of three fixed rotation joints ( O 1 , O 2 , O 3 ), the position of the coxa joint and the gait. Optimized Klann gait: Liftoff point P 1 , t... More
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Articulated Klann robot: Two drive DOF consist of four Pololu 3203 DC motor...
Published Online: December 9, 2022
Fig. 3 Articulated Klann robot: Two drive DOF consist of four Pololu 3203 DC motors and four drive-gearboxes, where two motors on the same side are bound together for control. Two lift DOF consist of two Pololu 4748 DC motors and two worm gearboxes. More
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The active Klann gait (lift DOF) is traced in red, with example stride leng...
Published Online: December 9, 2022
Fig. 4 The active Klann gait (lift DOF) is traced in red, with example stride lengths throughout the range of possibilities. The locked gait, shown in black, is the only possible gait for the robot when it is in its locked position (drive DOF). The locked robot has a limited locked gait height (14... More
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The kinematics define the obstacle height,  h , the robot can fully climb o...
Published Online: December 9, 2022
Fig. 5 The kinematics define the obstacle height, h , the robot can fully climb onto, with either locked ( a ) or active ( b ) coxa joint. The body height, H , is much higher with an active coxa, and the grasp length is adjustable. These diagrams are shown with horizontal ground rotated into a b... More
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Full climb analysis depicts the climbable workspace versus  α  and  H  cons...
Published Online: December 9, 2022
Fig. 6 Full climb analysis depicts the climbable workspace versus α and H considering both failure conditions, which are the deep gray area (which violates Eq. (4) ) and the light gray area (which violates Eq. (5) ). The red line shows the predicted maximum climbable obstacle height, where t... More
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Side view of object retrieval: ( a ) − ( d ) half climb, ( e ), ( f ) full ...
Published Online: December 9, 2022
Fig. 7 Side view of object retrieval: ( a ) − ( d ) half climb, ( e ), ( f ) full climb, and ( g ) grasp and pull More
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Joystick control strategy: The right stick controls the drive DOF, moving t...
Published Online: December 9, 2022
Fig. 8 Joystick control strategy: The right stick controls the drive DOF, moving the robot in four different directions (forward, backward, left, and right). The left joystick controls the lift DOF, moving the target leg up or down. The vertical axis of the left stick is used to select which side’... More
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Webots climb simulation: the robot successfully half climbed 20 cm and full...
Published Online: December 9, 2022
Fig. 9 Webots climb simulation: the robot successfully half climbed 20 cm and full climbed onto a 13 cm object: ( a ) move forward the object, ( b ) half climb, ( c ), raise the body, and ( d ) full climb More
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Webots grasp simulation: the robot can grasp an object from 16 cm (38% robo...
Published Online: December 9, 2022
Fig. 10 Webots grasp simulation: the robot can grasp an object from 16 cm (38% robot length) to 29 cm (69% robot length). The available grasp range is 13 cm: ( a ) place the robot on the object, ( b ) secure grasp, and ( c ) retrieve the object More
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Experimental results of speed on different terrains. A star indicates the m...
Published Online: December 9, 2022
Fig. 11 Experimental results of speed on different terrains. A star indicates the maximum speed of each terrain More
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Experimental climbing results: green is successful, red is failed. The acti...
Published Online: December 9, 2022
Fig. 12 Experimental climbing results: green is successful, red is failed. The active full climb only shows the result when α is 50°. Other experimental data with different coxa angles can be found in Fig. 6 . More
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Kinematic predictions, simulations, and results of half climb, full climb, ...
Published Online: December 9, 2022
Fig. 13 Kinematic predictions, simulations, and results of half climb, full climb, and grasp. Error is 1 cm, the test resolution More
Journal Articles
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EA force measurement system: ( a ) setup for measuring the normal EA force ...
Published Online: December 9, 2022
Fig. 3 EA force measurement system: ( a ) setup for measuring the normal EA force and ( b ) setup for measuring the shear EA force. More
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EA force test: ( a ) electrode parameters and ( b ) normal and shear EA for...
Published Online: December 9, 2022
Fig. 4 EA force test: ( a ) electrode parameters and ( b ) normal and shear EA forces of the optimized EA pad. More
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Performance test of EA-DEA pad gripper: ( a ) Tip angle test, ( b ) Frequen...
Published Online: December 9, 2022
Fig. 5 Performance test of EA-DEA pad gripper: ( a ) Tip angle test, ( b ) Frequency response test from 1 to 22 Hz with four different voltage amplitudes of 2.0, 3.0, 3.5, and 4.0 kV, and. ( c ) Release period test with natural release (black, left axis) and electrical/mechanical solution release ... More