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Mobile Robot for Locomotion Through a 3-D Periodic Lattice Environment
Mobile Robot for Locomotion Through a 3-D Periodic Lattice Environment
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机译:通过3D周期性晶格环境移动的移动机器人
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摘要
A class of robots specifically adapted to climb periodic lattices. These “relative robots” are designed for a specific lattice structure and use the regularity of the structure to simplify path planning, align with minimal feedback, and reduce the number of degrees of freedom (DOF) required to locomote. These robots can perform vital inspection and repair tasks within the structure that larger truss construction robots cannot perform without modifying the structure. A particular embodiment is a robot designed to traverse a cubooctahedral (CubOct) cellular solids lattice using only two motions: climbing and turning.
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