MODULARITY BY DISTRIBUTION - THE DEVELOPMENT OF A MOBILE ROBOT PROTOTYPE PLATFORM
Editor: Marcel Tichem, Delft University of Technology, Mogens Myrup Andreasen, Technical University of Denmark, Alex Duffy, University of Strathclyde
Author: Blackenfelt, Michael; Andersson, S6ren
Page(s): 155 - 168
This is a study of a leg-based mobile robot prototype which has been designed based on the specified requirements for both variant leg and variant foot principles. Modular design was emphasised from the very beginning, not only to facilitate variety but also to ease future developments, maintenance, etc. The study deals with the technical issues behind the chosen product structure. Since the product is mechatronic, the structure may be described in terms of mechanical, electronic and software elements. A comparison is also done to commercial products with a similar degree of complexity.