DocumentCode
720246
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
fYear
2015
fDate
17-20 May 2015
Firstpage
298
Lastpage
303
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;
fLanguage
English
Publisher
ieee
Conference_Titel
System of Systems Engineering Conference (SoSE), 2015 10th
Conference_Location
San Antonio, TX
Type
conf
DOI
10.1109/SYSOSE.2015.7151903
Filename
7151903
Link To Document