Planar legged walking of a passive-spine hexapod robot

被引：7
|
作者：
Tang, Yongchen [1 ]
Ma, Shugen [1 ,2 ]
Sun, Yi [1 ]
Ge, Dingxin [1 ]
机构：
[1] Ritsumeikan Univ, Dept Robot, Kusatsu, Shiga, Japan
[2] Tianjin Univ, Sch Elect Engn & Automat, Tianjin 300072, Peoples R China
来源：
ADVANCED ROBOTICS | 2015年 / 29卷 / 23期
关键词：
multi-legged robot; passive-spine hexapod robot; passive body segment joint; mobility; gait; DESIGN;
D O I：
10.1080/01691864.2015.1070105
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper proposes a new legged walking method for a novel passive-spine hexapod robot. This robot consists of several body segments connected by passive body joints. Each of the body segments carries two 1-DoF (degree of freedom) actuated legs. The robot is capable of achieving planar legged walking by rapidly abducting and adducting its legs. To model the mobility of a robot based on this simple design, the candidate configurations from all possible configurations are first selected in a mobility analysis of the robot based on the screw theory. All the feasible sequences of these candidate configurations are then searched to form planar locomotion gaits. Next, locomotive performance of the gaits is analyzed. Finally, the proposed locomotion design and gait planning methods are verified through simulations and experiments.
引用
收藏
页码：1510 / 1525
页数：16
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