DocumentCode
306474
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
Volume
2
fYear
1996
fDate
14-17 Oct 1996
Firstpage
1595
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man, and Cybernetics, 1996., IEEE International Conference on
Conference_Location
Beijing
ISSN
1062-922X
Print_ISBN
0-7803-3280-6
Type
conf
DOI
10.1109/ICSMC.1996.571390
Filename
571390
Link To Document