Title :
The locomotive mode study on five-limbed robots
Author :
Jianghong, Zhang ; Jinsong, Wang ; Bopeng, Zhang
Author_Institution :
Sch. of Mech. & Production Eng., Nanyang Technol. Inst., Singapore
Abstract :
In this paper, a new locomotive mode, pentapodal gait, is investigated and the experimental study is conducted on the five-limbed robot prototype developed by the authors. The study has demonstrated that the pentapodal gaits are advantageous in stability gait variety, stability margin, duty factor range, and locomotive speed over many traditional walking machines. The new typed robot with five limbs is expected to be applied in unstructured environments and comprehensive tasks
Keywords :
legged locomotion; stability; duty factor range; five-limbed robots; locomotive mode study; locomotive speed; pentapodal gait; stability gait; stability margin; unstructured environments; Design engineering; Energy consumption; Hip; Instruments; Leg; Legged locomotion; Manipulators; Prototypes; Robot sensing systems; Stability;
Conference_Titel :
Systems, Man, and Cybernetics, 1996., IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-3280-6
DOI :
10.1109/ICSMC.1996.571390
