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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: |