Determination of individual foot-placement space for modular platform manipulators
Document Type
Conference Proceeding
Publication Date
1-1-1998
Abstract
Reconfigurability of a modular platform manipulator makes it possible for the manipulator to adapt to different applications. How should the actual configuration be selected? Practical reconfiguration of platform manipulators can only be achieved when users are provided with information to guide their selection process. This paper defines the foot-placement space and presents a method for determining individual Foot- Placement Spaces (FPSs) for a given set of leg modules, based on a desired workspace. Implementation of construction method for Foot-Placement Space is discussed and illustrated with an example.
Identifier
85100947740 (Scopus)
ISBN
[9780791880302]
Publication Title
Proceedings of the ASME Design Engineering Technical Conference
External Full Text Location
https://doi.org/10.1115/DETC98/MECH-5966
Volume
1A-1998
Recommended Citation
Ji, Zhiming and Li, Zhenqun, "Determination of individual foot-placement space for modular platform manipulators" (1998). Faculty Publications. 16435.
https://digitalcommons.njit.edu/fac_pubs/16435
