Abstract
The present paper deals with the mechanical design of a novel biped climbing and walking robot, which is provided of a 2 (3-RPS) leg mechanism with 6 d.o.f.s. and which makes use of suction-cups for climbing on flat and rigid vertical surfaces. The serial-parallel kinematic structure of each leg mechanism, along with the climbing and walking motions of the proposed biped robot, are analyzed.
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Figliolini, G., Rea, P., Conte, M. (2010). Mechanical Design of a Novel Biped Climbing and Walking Robot. In: Parenti Castelli, V., Schiehlen, W. (eds) ROMANSY 18 Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 524. Springer, Vienna. https://doi.org/10.1007/978-3-7091-0277-0_23
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DOI: https://doi.org/10.1007/978-3-7091-0277-0_23
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-0276-3
Online ISBN: 978-3-7091-0277-0
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