Systematic and complete enumeration of statically stable multipod gaits

• Autorzy: Roth Jörg

Identyfikatory

DOI

10.14313/JAMRIS_4-2018/24

• Języki publikacji: EN

Abstrakty

EN

Insect-like robots have many advantages concerning mobility and stability. The specific sequence of legs going through different phases, the gait, is important when planning and executing a complex motion. The notion of gaits was originally introduced by biologists but gaits also influenced robot development. Typical multipod robots are able to execute much more gaits than occur in wildlife. In this paper we present a formalism to express certain rules for reasonable gaits. We show an algorithm that enumerates all statically stable gaits according to our formalism. We then provide a gait classification by the example of six-legged robots. Finally, we introduce properties to evaluate gaits.

Słowa kluczowe

EN

legged robot; Multipod; Hexapod; statically stable gait

PL

Multipod; Hexapod

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2018
• Tom: Vol. 12, No. 4
• Strony: 42--50
• Opis fizyczny: Bibliogr. 22 poz., rys.

Twórcy

autor

Roth Jörg

• Faculty of Computer Science, Nuremberg Institute of Technology, Nuremberg, Germany, Faculty of Computer Science, Nuremberg Institute of Technology, Nuremberg, Germany

Bibliografia

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Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).