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Articles | Volume 15, issue 2
https://doi.org/10.5194/ms-15-633-2024
https://doi.org/10.5194/ms-15-633-2024
Research article
 | 
25 Nov 2024
Research article |  | 25 Nov 2024

Gait planning of a 4–5R rolling mechanism based on the planar 6R single-loop chain

Qing Liu, Qianqian Zhang, Shouzhen Kang, Ziyi Pei, Jialei Li, Yezhuo Li, Yue Yan, Yuhao Liang, and Xinyu Wang

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Subject: Mechanisms and Robotics | Techniques and Approaches: Mathematical Modeling and Analysis
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Cited articles

Adams, I., Quinn, R. D., Lee, G., Kroeger, A., Thompson, R., and Feuerbacher, E.: Animal Acceptance of an Autonomous Pasture Sanitation Robot, Conference on Biomimetic and Biohybrid Systems, Springer International Publishing, Cham, 13548, 366–377, https://doi.org/10.1007/978-3-031-20470-8_36, 2022. 
Bicchi, A. and Prattichizzo, D.: Manipulability of Cooperating Robots with Unactuated Joints and Closed-Chain Mechanisms, IEEE T. Robotic. Autom., 16, 336–345, https://doi.org/10.1109/70.864226, 2000. 
Debruyn, D., Zufferey, R., Armanini, S. F., Winston, C., Farinha, A., Jin, Y., and Kovac, M.: MEDUSA: A Multi-Environment Dual-Robot for Underwater Sample Acquisition, IEEE Robot. Autom. Lett., 5, 4564–4571, https://doi.org/10.1109/LRA.2020.3001534, 2020. 
Ghorbel, F. H., Chetelat, O., Gunawardana, R., and Longchamp, R.: Modeling and Set Point Control of Closed-Chain Mechanisms: Theory and Experiment, IEEE T. Contr. Syst. T., 8, 801–815, https://doi.org/10.1109/87.865853, 2000. 
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In this paper, based on the spatial extension design of a planar 6R single-loop chain, a 4–5R...
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