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...
Main Authors: | , , , , |
---|---|
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 |
_version_ | 1818756244002832384 |
---|---|
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. |
first_indexed | 2024-12-18T05:51:57Z |
format | Article |
id | doaj.art-90256d5331774e1e80ad4f42236c0258 |
institution | Directory Open Access Journal |
issn | 2667-3797 |
language | English |
last_indexed | 2024-12-18T05:51:57Z |
publishDate | 2022-03-01 |
publisher | Elsevier |
record_format | Article |
series | Biomimetic Intelligence and Robotics |
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 |
work_keys_str_mv | AT yongchentang undulatorygaitplanningmethodofmultileggedrobotwithpassivespine AT guotengzhang undulatorygaitplanningmethodofmultileggedrobotwithpassivespine AT dingxinge undulatorygaitplanningmethodofmultileggedrobotwithpassivespine AT chaoren undulatorygaitplanningmethodofmultileggedrobotwithpassivespine AT shugenma undulatorygaitplanningmethodofmultileggedrobotwithpassivespine |