Kinematic workspace analyses of a miniature walking robot

A team of interdisciplinary researchers are involved in the development of a miniature biped robot that can traverse flat inclined surfaces such as walls and ceilings (R.L. Tummala et al., 1999). Unlike conventional biped robots, only limited degrees-of-freedom are available in the design. Thus the kinematics and workspace analyses become important for motion planning and control. The paper briefly discusses the mechanical structure and drive mechanism of the miniature robot. The kinematic model of the robot is then developed, and its workspace is analyzed in detail. Simulation results of the robot motion are also presented.