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Digital Library

of the European Council for Modelling and Simulation

 

Title:

Locomotion Analysis Of A Modular Pentapedal Walking Robot

Authors:

Cong Liu, Filippo Sanfilippo, Houxiang Zhang, Hans Petter Hildre,

Chang Liu, Shusheng Bi

Published in:

 

(2012).ECMS 2012 Proceedings edited by: K. G. Troitzsch, M. Moehring, U. Lotzmann. European Council for Modeling and Simulation. doi:10.7148/2012 

 

ISBN: 978-0-9564944-4-3

 

26th European Conference on Modelling and Simulation,

Shaping reality through simulation

Koblenz, Germany, May 29 – June 1 2012

 

Citation format:

Liu, C., Sanfilippo, F., Zhang, H., Hildre, H. P., Liu, C., & Bi, S. (2012). Locomotion Analysis Of A Modular Pentapedal Walking Robot. ECMS 2012 Proceedings edited by: K. G. Troitzsch, M. Moehring, U. Lotzmann (pp. 441-447). European Council for Modeling and Simulation. doi:10.7148/2012-0441-0447

DOI:

http://dx.doi.org/10.7148/2012-0441-0447

Abstract:

In this paper, the configuration of a five-limbed modular robot is introduced. A specialised locomotion gait is designed to allow for omni-directional mobility. Due to the large diversity resulting from various gait sequences, a criteria for selecting the best gaits based on their stability characteristics is proposed. A series of simulations is then performed to evaluate the various gaits in different walking directions. A gait arrangement scheme toward omni-directional locomotion is finally derived. Lastly, Experiments are also carried out on our pentapedal robot prototype in order to validate the results of simulation. The experiments confirm the gait analysis and selection is highly accurate in the evaluation of gait stability.

Full text: