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Published in:
2016 | OriginalPaper | Chapter
Monte-Carlo Workspace Calculation of a Serial-Parallel Biped Robot
Authors : Adrián Peidró, Arturo Gil, José María Marín, Yerai Berenguer, Luis Payá, Oscar Reinoso
Published in: Robot 2015: Second Iberian Robotics Conference
Publisher: Springer International Publishing
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This paper presents the Monte-Carlo calculation of the work-space of a biped redundant robot for climbing 3D structures. The robot has a hybrid serial-parallel architecture since each leg is composed of two parallel mechanisms connected in series. First, the workspace of the parallel mechanisms is characterized. Then, a Monte-Carlo algorithm is applied to compute the reachable workspace of the biped robot solving only the forward kinematics. This algorithm is modified to compute also the constant-orientation workspace. The algorithms have been implemented in a simulator that can be used to study the variation of the workspace when the geometric parameters of the robot are modified. The simulator is useful for designing the robot, as the examples show.