Platonic beasts: a new family of multilimbed robots
Platonic beasts: a new family of multilimbed robots
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柏拉图式的野兽：多肢机器人的新家族
DOI：
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发表时间：
1994
期刊：
影响因子：
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通讯作者：
Scott K. Ralph
中科院分区：
文献类型：
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作者：
D. Pai;R. Barman;Scott K. Ralph
描述了一类球对称、高度自由的机器人，称为“柏拉图式野兽”。这个家族的机器人在运动学上等同于一个对称多面体，比如一个柏拉图立体，在它的顶点上有相同的多用途肢体。设计的对称性和规整性使其具有抗倾覆的鲁棒性、新颖的步态如滚动步态和容错性等优点。作者描述了他们在实验室建造的原型柏拉图式野兽机器人的设计、模拟和构造。该机器人有四个肢体，每个肢体有三个自由度，由四个嵌入式32位微控制器组成的网络控制。作者还讨论了这些机器人的一般特征，包括使用滚动步态的运动及其新特征的含义
Describes class of spherically symmetric, high degree of freedom robots called "platonic beasts". A robot in this family is kinematically equivalent to a symmetric polyhedron, such as one of the platonic solids, with identical multi-purpose limbs attached to its vertices. The symmetry and regularity of the design have several advantages including robustness to toppling, novel gaits such as the rolling gait, and fault tolerance. The authors describe the design, simulation, and construction of a prototype platonic beast robot that the authors have built in their lab. The robot has four limbs, each with three degrees of freedom, and is controlled by a network of four embedded 32-bit microcontrollers. The authors also discuss the general features of these robots, including locomotion using the rolling gait and the implications of its novel features.<<ETX>>
DOI：
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发表时间：
1996-11
期刊：
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影响因子：
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作者：
Kees van de Doel;D. Pai
通讯作者：
Kees van de Doel;D. Pai