Title :
Development of modular legged robots: study with three-legged robot modularity
Author :
Chatterjee, Ranajit ; Nagai, Michiko ; Matsuno, Fumitoshi
Author_Institution :
Dept. of Mech. Eng & Intelligent Syst., Univ. of Electro-Commun., Tokyo, Japan
fDate :
28 Sept.-2 Oct. 2004
Abstract :
As an experimental platform for modular legged robots, generic limb modules are developed which are used to implement 3-limb robot units. Benefits of 3-limb modularity are discussed in the context of multi-legged robot assembly. A CPG network based locomotion gait generation approach for generic multi-leg formations is considered.
Keywords :
legged locomotion; 3-limb robot unit; generic limb module; locomotion gait generation; modular legged robot; multilegged robot assembly; three-legged robot modularity; Intelligent robots; Intelligent systems; Lattices; Leg; Legged locomotion; Orbital robotics; Robot sensing systems; Robotic assembly; Sensor phenomena and characterization; Shape;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389600
