Abstract
This paper shows a relationship between the number of crawler links and its climbing ability. We consider a robot that consists of serially connected crawlers and try to let it climb up a step. To derive this relation, the robot has to climb step as high as possible. Therefore each joint require optimized motion to the step. The approach is that; each joint angle function is expanded by the Fourier series, and the coefficients and period are derived by a Genetic Algorithm. While we can get each maximum climb-able step height corresponding to the number of links, we can make clear the relation that the height of the climb-able step increases as the number of crawler links increases.
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© 2006 Springer-Verlag Berlin Heidelberg
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Yokota, S., Kawabata, K., Blazevic, P., Kobayashi, H. (2006). Study on Mobility of Connected Crawler Robot by Using GA. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_14
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DOI: https://doi.org/10.1007/3-540-26415-9_14
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26413-2
Online ISBN: 978-3-540-26415-6
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