Determination of individual foot-placement space for modular platform manipulators

Zhiming Ji, Zhenqun Li

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Reconfigurability of a modular platform manipulator makes it possible for the manipulator to adapt to different applications. How should the actual configuration be selected? Practical reconfiguration of platform manipulators can only be achieved when users are provided with information to guide their selection process. This paper defines the foot-placement space and presents a method for determining individual Foot- Placement Spaces (FPSs) for a given set of leg modules, based on a desired workspace. Implementation of construction method for Foot-Placement Space is discussed and illustrated with an example.

Original languageEnglish (US)
Title of host publication25th Biennial Mechanisms Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791880302
StatePublished - 1998
EventASME 1998 Design Engineering Technical Conferences, DETC 1998 - Atlanta, United States
Duration: Sep 13 1998Sep 16 1998

Publication series

NameProceedings of the ASME Design Engineering Technical Conference


ConferenceASME 1998 Design Engineering Technical Conferences, DETC 1998
Country/TerritoryUnited States

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation


  • Foot-Placement Space
  • Modular Manipulator
  • Parallel Platform Manipulator
  • Reconfiguration


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