Experimental Validation of a Template for Navigation of Miniature Legged Robots

被引：2

作者：

Karydis, Konstantinos ^{[1
]}

Stager, Adam ^{[2
]}

Tanner, Herbert G. ^{[2
]}

Poulakakis, Ioannis ^{[2
]}

机构：

[1] Univ Calif Riverside, Dept Elect & Comp Engn, 900 Univ Ave,357 Bourns Hall B, Riverside, CA 92521 USA

[2] Univ Delaware, Dept Mech Engn, 130 Acad St,Room 126, Newark, DE 19716 USA

来源：

2016 INTERNATIONAL SYMPOSIUM ON EXPERIMENTAL ROBOTICS | 2017年 / 1卷

关键词：

Miniature legged robots; Biologically-inspired robots; Multilegged robots; Template-based navigation; LOCOMOTION; DYNAMICS; MODELS;

D O I：

10.1007/978-3-319-50115-4_37

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper provides experimental evidence in support of the hypothesis that the Switching Four-bar Mechanism (SFM) model may serve as a template for miniature legged systems in quasi-static operation. The evidence suggests that the SFM captures salient motion behaviors of morphologically distinct centimeter-scale legged robots. Captured behaviors are then used for planning and control at small scales, thus demonstrating the practical utility of the SFM in navigation tasks.

引用

页码：420 / 430

页数：11

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