Title :
Omnidirectional rule-based free gait utilizing restrictedness
Author :
Johnson, Chris ; Sahin, Ferat
Author_Institution :
Electr. Eng. Dept., Rochester Inst. of Technol., Rochester, NY, USA
Abstract :
Adaptable gaits are pivotal for allowing legged robots to navigate difficult terrain. One of the best gait styles to accomplish this goal is the rule-based free gait. First the forward and inverse kinematic solutions are solved for TigerBug, a circular hexapod. Then a rule based free gait is implemented on the circular hexapod in order to provide a platform for future rough terrain navigation.
Keywords :
gait analysis; legged locomotion; robot kinematics; TigerBug; circular hexapod; forward kinematic solutions; gait styles; inverse kinematic solutions; legged robots; omnidirectional rule-based free gait; rough terrain navigation; Foot; Joints; Legged locomotion; Mathematical model; Smoothing methods; Switches;
Conference_Titel :
System of Systems Engineering Conference (SoSE), 2015 10th
Conference_Location :
San Antonio, TX
DOI :
10.1109/SYSOSE.2015.7151903
