Study of Gait Patterns for an Hexapod Robot in Search and Rescue Tasks

被引：0
|
作者：
De Leon, Jorge [1 ]
Garzon, Mario [1 ]
Garzon-Ramos, David [1 ]
Barrientos, Antonio [1 ]
机构：
[1] UPM, CSIC, Ctr Automat & Robot, Calle Jose Gutierrez Abascal 2, Madrid 28006, Spain
来源：
ROBOT 2017: THIRD IBERIAN ROBOTICS CONFERENCE, VOL 2 | 2018年 / 694卷
关键词：
Hexapod robots; C-legs; Gait patterns; USAR;
D O I：
10.1007/978-3-319-70836-2_60
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a study about gait patterns for hexapod robots with extremities called C-legs. The study analyses several modes of gait that different animals use to move through the terrestrial environment, and another new ones that arise when looking at the limitations that present the existing ones. The whole study is reinforced with a series of simulations carried out, where the obtained results are analysed to select the best gait pattern for a specific situation.
引用
收藏
页码：731 / 742
页数：12
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