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
相关论文
共 50 条
  • [21] Design of a trajectory generator for a hexapod walking robot
    Mahfoudi, Chawki
    Bouaziz, Mohamed
    Boulahia, Allaoua
    Djouani, Karim
    Rechak, Said
    [J]. 5TH INTERNATIONAL CONFERENCE ON INTEGRATED MODELING AND ANALYSIS IN APPLIED CONTROL AND AUTOMATION, IMAACA 2011, 2011, : 192 - 199
  • [22] Gait generation and control of a hexapod walking robot
    Ya-Xin, Yu
    Bo, Jin
    [J]. Open Electrical and Electronic Engineering Journal, 2014, 8 (01): : 335 - 341
  • [23] Power Consumption Optimization for a Hexapod Walking Robot
    Jin, Bo
    Chen, Cheng
    Li, Wei
    [J]. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2013, 71 (02) : 195 - 209
  • [24] Gait generation and control of a hexapod walking robot
    [J]. Ya-Xin, Yu, 1600, Bentham Science Publishers B.V., P.O. Box 294, Bussum, 1400 AG, Netherlands (08):
  • [25] Straight legged walking of a biped robot
    Kurazume, R
    Tanaka, S
    Yamashita, M
    Hasegawa, T
    Yoneda, K
    [J]. 2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2005, : 3095 - 3101
  • [26] Development of ASURA I: Harvestman-like Hexapod Walking Robot -Approach for Long-legged Robot and Leg Mechanism Design
    Hodoshima, Ryuichi
    Watanabe, Soichiro
    Nishiyama, Yuki
    Sakaki, Akihiro
    Ohura, Yoshikazu
    Kotosaka, Shinya
    [J]. 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2013, : 4669 - 4674
  • [27] Power Consumption Optimization for a Hexapod Walking Robot
    Bo Jin
    Cheng Chen
    Wei Li
    [J]. Journal of Intelligent & Robotic Systems, 2013, 71 : 195 - 209
  • [28] DESIGN OF A WHEEL-LEGGED HEXAPOD ROBOT FOR CREATIVE ADAPTATION
    Jehanno, J. -M.
    Cully, A.
    Grand, C.
    Mouret, J. -B.
    [J]. MOBILE SERVICE ROBOTICS, 2014, : 267 - +
  • [29] Maneuverable Autonomy of a Six-legged Walking Robot: Design and Implementation using Deep Neural Networks and Hexapod Locomotion
    Hiep Xuan Huynh
    Nghia Duong-Trung
    Tran Nam Quoc Nguyen
    Bao Hoai Le
    Le, Tam Hung
    [J]. INTERNATIONAL JOURNAL OF ADVANCED COMPUTER SCIENCE AND APPLICATIONS, 2021, 12 (06) : 830 - 839
  • [30] Planar motion hexapod walking machines - a new configuration
    Genta, G
    Amati, N
    [J]. CLIMBING AND WALKING ROBOTS, 2001, : 619 - 626
12345