Generation of a forward motion for a 13-link semi-looper robot

Author

Izumi, Kiyotaka ; Shen, Rongkai ; Tsujimura, Takeshi ; Watanabe, Keigo

Author_Institution

Dept. of Mech. Eng., Saga Univ., Saga, Japan

fYear

2011

fDate

13-18 Sept. 2011

Firstpage

903

Lastpage

904

Abstract

The motion pattern generation of the 13-link semi-looper robot is discussed in this paper. The semi-looper robot can perform both motion patterns of a green caterpillar and a looper. It is adopted so that the serial link mechanism may achieve the semi-looper robot. A central pattern generator (CPG) is introduced to generate the motion pattern of the 13-link semi-looper robot. The CPG is composed of Matsuoka oscillators. The CPG´s structure and design parameters of Matsuoka oscillators are discussed. Some simulations using the open dynamics engine (ODE) demonstrate the designed motion pattern of the 13-link semi-looper robot.

Keywords

biomimetics; mobile robots; motion control; oscillators; robot dynamics; 13-link semi-looper robot; Matsuoka oscillators; biomimetic robots; central pattern generator; forward motion pattern generation; green caterpillar; open dynamics engine; serial link mechanism; Biological system modeling; Engines; Generators; Neurons; Oscillators; Robots; Bioinspired robotics; Biomimetic machine; Central pattern generator; Inchwarm; Motion pattern; Open dynamics engine;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual Conference (SICE), 2011 Proceedings of

Conference_Location

Tokyo

ISSN

pending

Print_ISBN

978-1-4577-0714-8

Type

conf

Filename

6060637