Undulatory gait planning method of multi-legged robot with passive-spine

被引：6

作者：

Tang, Yongchen ^{[1
]}

Zhang, Guoteng ^{[2
]}

Ge, Dingxin ^{[3
]}

Ren, Chao ^{[4
]}

Ma, Shugen ^{[5
]}

机构：

[1] Tangshan Univ, Sch Intelligence & Informat Engn, Tangshan 063000, Peoples R China

[2] Shandong Univ, Sch Control Sci & Engn, Jinan 250061, Peoples R China

[3] Tangshan Shinh Intelligent Technol Co Ltd, Tangshan 063000, Peoples R China

[4] Tianjin Univ, Sch Elect & Informat Engn, Tianjin 300072, Peoples R China

[5] Ritsumeikan Univ, Dept Robot, Kusatsu, Shiga 5258577, Japan

来源：

BIOMIMETIC INTELLIGENCE AND ROBOTICS | 2022年 / 2卷 / 01期

关键词：

Multi-legged robot; Undulatory gait; FSM; Gait planning; Passive-spine; HEXAPOD ROBOT; WALKING;

D O I：

10.1016/j.birob.2021.100028

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, we propose a new gait planning method for a multi-legged robot which has only 1 degree-offreedom in each leg and has a passive body joint between two body segments. We firstly introduce the Finite State Machine (FSM) to the undulatory gait planning method of the 2n-legged robot. Then, the undulatory gait sequence for straight line motion is achieved by undulations motion. The idea that legged locomotion is achievable by less actuation of 2n-legged robot as well as the gait planning methods are verified finally by simulations and experiments.

引用

页数：8

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