Legless Locomotion: A Novel Locomotion Technique for Legged Robots
نویسندگان
چکیده
منابع مشابه
Legless Locomotion: A Novel Locomotion Technique for Legged Robots
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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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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متن کاملLegless Locomotion: Concept and Analysis
This thesis presents a novel locomotion technique, called legless locomotion, for convex-bodied legged robots. The motivation for studying legless locomotion stems from the mobile robot recovery problem, stated simply as what should a robot do when trapped? Legless locomotion is the technique of locomotion for a legged robot which has no leg-ground contact, but can use the swinging legs to exci...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2008
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364908091023