A Physical Model for Dynamical Arthropod Running on Level Ground

被引：0

作者：

Komsuoglu, Haldun ^{[1
]}

Sohn, Kiwon ^{[1
]}

Full, Robert J. ^{[2
]}

Koditschek, Daniel E. ^{[1
]}

机构：

[1] Univ Penn, Dept Elect & Syst Engn, Philadelphia, PA 19104 USA

[2] Univ Calif Berkeley, Dept Integrat Biol, Berkeley, CA USA

来源：

EXPERIMENTAL ROBOTICS | 2009年 / 54卷

关键词：

LEGGED LOCOMOTION; STABILITY ANALYSIS; MECHANICAL MODELS; INSECT LOCOMOTION; HORIZONTAL PLANE; STABILIZATION; RHEX;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Arthropods with their extraordinary locomotive capabilities have inspired roboticists, giving rise to major accomplishments in robotics research over the past decade. Most notably bio-inspired hexapod robots using only task level open-loop controllers [22, 9] exhibit stable dynamic locomotion over highly broken and unstable terrain. We present experimental data on the dynamics of SprawlHex- a hexapod robot with adjustable body sprawl - consisting of time trajectory of full body configuration and single leg ground reaction forces. The dynamics of SprawlHexis compared and contrasted to that of insects. Spraw/Hexdynamics has qualitative similarities to that of insects in both sagittal and horizontal plane. Spraw/Hexpresents a step towards construction of an effective physical model to study arthropod locomotion.

引用

页码：303 / +

页数：4

共 30 条

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