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

In this paper, we propose a new gait planning method for a multi-legged robot which has only 1 degree-of-freedom 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...

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Main Authors: Yongchen Tang, Guoteng Zhang, Dingxin Ge, Chao Ren, Shugen Ma
Format: Article
Language:English
Published: Elsevier 2022-03-01
Series:Biomimetic Intelligence and Robotics
Subjects:
Online Access:http://www.sciencedirect.com/science/article/pii/S2667379721000280
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author Yongchen Tang
Guoteng Zhang
Dingxin Ge
Chao Ren
Shugen Ma
author_facet Yongchen Tang
Guoteng Zhang
Dingxin Ge
Chao Ren
Shugen Ma
author_sort Yongchen Tang
collection DOAJ
description In this paper, we propose a new gait planning method for a multi-legged robot which has only 1 degree-of-freedom 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.
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spelling doaj.art-90256d5331774e1e80ad4f42236c02582022-12-21T21:18:53ZengElsevierBiomimetic Intelligence and Robotics2667-37972022-03-0121100028Undulatory gait planning method of multi-legged robot with passive-spineYongchen Tang0Guoteng Zhang1Dingxin Ge2Chao Ren3Shugen Ma4School of Intelligence and Information Engineering, Tangshan University, Tangshan 063000, ChinaSchool of Control Science and Engineering, Shandong University, Jinan 250061, ChinaTangshan Shinh Intelligent Technology Co.Ltd, Tangshan 063000, China; Corresponding author.School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, ChinaDepartment of Robotics, Ritsumeikan University, Shiga 5258577, JapanIn this paper, we propose a new gait planning method for a multi-legged robot which has only 1 degree-of-freedom 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.http://www.sciencedirect.com/science/article/pii/S2667379721000280Multi-legged robotUndulatory gaitFSMGait planningPassive-spine
spellingShingle Yongchen Tang
Guoteng Zhang
Dingxin Ge
Chao Ren
Shugen Ma
Undulatory gait planning method of multi-legged robot with passive-spine
Biomimetic Intelligence and Robotics
Multi-legged robot
Undulatory gait
FSM
Gait planning
Passive-spine
title Undulatory gait planning method of multi-legged robot with passive-spine
title_full Undulatory gait planning method of multi-legged robot with passive-spine
title_fullStr Undulatory gait planning method of multi-legged robot with passive-spine
title_full_unstemmed Undulatory gait planning method of multi-legged robot with passive-spine
title_short Undulatory gait planning method of multi-legged robot with passive-spine
title_sort undulatory gait planning method of multi legged robot with passive spine
topic Multi-legged robot
Undulatory gait
FSM
Gait planning
Passive-spine
url http://www.sciencedirect.com/science/article/pii/S2667379721000280
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AT guotengzhang undulatorygaitplanningmethodofmultileggedrobotwithpassivespine
AT dingxinge undulatorygaitplanningmethodofmultileggedrobotwithpassivespine
AT chaoren undulatorygaitplanningmethodofmultileggedrobotwithpassivespine
AT shugenma undulatorygaitplanningmethodofmultileggedrobotwithpassivespine