Mechanical Design of Joint Braking and Underactuated Mechanism of "Tri-Star3"; Horizontal Polyarticular Arm Equipped 3-Wheeled Expandable Mobile Robot.
Kenjiro TadakumaMasatsugu MatsumotoShigeo HirosePublished in: IROS (2006)
Keyphrases
- mobile robot
- mechanical design
- motion planning
- conceptual design
- path planning
- dynamic environments
- obstacle avoidance
- robotic arm
- autonomous navigation
- indoor environments
- autonomous robots
- robotic systems
- engineering design
- mobile robotics
- visual servoing
- mobile robot navigation
- multi robot
- collision avoidance
- office environment
- human arm
- receding horizon
- map building
- motion control
- inverted pendulum
- selection mechanism
- robot control
- information retrieval
- real robot
- artificial intelligence
- mechanical systems
- joint space
- real time