Automated Transitions Between Walking and Running in Legged Robots
نویسندگان
چکیده
منابع مشابه
Automated Transitions Between Walking and Running in Legged Robots
This paper addresses the synthesis of controllers for walk-to-run transition (WRT) and run-to-walk transition (RWT) in legged robots with adjustable leg compliance. Inspired by human kinematics, we propose a detailed procedure for the WRT and RWT in an adjustablestiffness spring and mass model, and derive control parameters that ensure effective gait transitions. The WRT is achieved by modulati...
متن کاملGenerating walking behaviours in legged robots
Many legged robots have been built with a variety of different abilities, from running to hopping to climbing stairs. Despite this however, there has been no consistency of approach to the problem of getting them to walk. Approaches have included breaking down the walking step into discrete parts and then controlling them separately, using springs and linkages to achieve a passive walking cycle...
متن کاملAnalysis of Six-legged Walking Robots
In the present paper, an attempt has been made to carry out kinematic and dynamic analysis of a six-legged robot. A three-revolute (3R) kinematic chain has been chosen for each leg mechanism in order to mimic the leg structure of an insect. Denavit–Hartenberg (D-H) conventions are used to perform kinematic analysis of the six-legged robot. The direct and inverse kinematic analysis for each leg ...
متن کاملDesign and Simulation of Legged Walking Robots in MATLAB Environment
It is well known that legged locomotion is more efficient,speedy, and versatile than the one by track and wheeled vehicles when it operates in a rough terrain or in unconstructed environment. The potential advantages of legged locomotion can be indicated such as better mobility, obstacles overcoming ability, active suspension, energy efficiency, and achievable speed (Song & Waldron, 1989). Legg...
متن کاملMechanics and Simulation of Six-Legged Walking Robots
Legged locomotion is used by biological systems since millions of years, but wheeled locomotion vehicles are so familiar in our modern life, that people have developed a sort of dependence on this form of locomotion and transportation. However, wheeled vehicles require paved surfaces, which are obtained through a suitable modification of the natural environment. Thus, walking machines are more ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2014
ISSN: 1474-6670
DOI: 10.3182/20140824-6-za-1003.01717