منابع مشابه
Performance measures for locomotion robots
We design two performance measures for a planar locomotion robot, modeled closely after the Platonic Beast. The first measure is proportional to the total motion of all joints during locomotion of the robot. This is a rough approximation to the energy consumption of the robot. The second measure determines the maximal speed of locomotion, for given limits on the joint speeds. We compute optimal...
متن کاملOmnidirectional Locomotion for Quadruped Robots
Competing at the RoboCup 2000 Sony legged robot league, the UNSW team won both the challenge competition and all their soccer matches, emerging the outright winners for this league against eleven other international teams. The main advantage that the UNSW team had was speed. A major contributor to the speed was a novel omnidirectional locomotion method developed for the quadruped Sony ERS-110 r...
متن کاملLegless 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...
متن کاملLegless 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...
متن کاملLocomotion control of hybrid cockroach robots.
Natural systems retain significant advantages over engineered systems in many aspects, including size and versatility. In this research, we develop a hybrid robotic system using American (Periplaneta americana) and discoid (Blaberus discoidalis) cockroaches that uses the natural locomotion and robustness of the insect. A tethered control system was firstly characterized using American cockroach...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1986
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.4.285