Legged Locomotion Robots and Anthropomorphic Mechanisms
نویسندگان
چکیده
منابع مشابه
Legless locomotion for legged robots
We propose a locomotion technique for a legged robot that is high-centered, i.e., a robot stuck on a block with its legs dangling in air. By using its legs as reaction masses, the robot might be able to rock and roll on its stomach and incrementally move forward off the block, a form of legless locomotion using halteres. With locomotion of high-centered robots using body attitude oscillations a...
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Locomotion of legged robots on arbitrary terrain using multiple contacts is yet an open problem. To tackle it, a common approach is to rely on reduced template models (e.g. the linear inverted pendulum). However, most of existing template models are based on some restrictive hypotheses that limit their range of applications. Moreover, reduced models are generally not able to cope with the const...
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We present a novel locomotion strategy called legless locomotion that allows a round-bodied legged robot to locomote approximately when it is high-centered. Typically, a high-centered robot is stuck since the robot’s legs do not touch the ground. Legless locomotion uses the legs as a reaction mass to set up oscillatory body rotations which when coupled with ground contact gradually translate th...
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Stable and robust autonomous dynamic locomotion is demonstrated experimentally in a four and a six-legged robot. The Scout II quadruped runs on flat ground in a bounding gait, and was motivated by an effort to understand the minimal mechanical design and control complexity for dynamically stable locomotion. The RHex 0 hexapod runs dynamically in a tripod gait over flat and badly broken terrain....
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ژورنال
عنوان ژورنال: Computers & Mathematics with Applications
سال: 1976
ISSN: 0898-1221
DOI: 10.1016/0898-1221(76)90030-4