Bipedal Walking of an Octopus-Inspired Robot
نویسندگان
چکیده
In this paper a model is presented which describes an octopusinspired robot capable of two kinds of locomotion: crawling and bipedal walking. Focus will be placed on the latter type of locomotion to demonstrate, through model simulations and experimental trials, that the robot’s speed increases by about 3 times compared to crawling. This finding is coherent with the performances of the biological counterpart when adopting this gait. Specific features of underwater legged locomotion are then derived from the model, which prompt the possibility of controlling locomotion by using simple control and by exploiting slight morphological adaptations.
منابع مشابه
Reconstructing human push recovery reactions using a three dimensional under-actuated bipedal robot
This paper presents the ability of hybrid zero dynamics (HZD) feedback control method to reproduce human like movements for walking push recovery of an under-actuated 3D biped model. The balance recovery controller is implemented on a three-dimensional under-actuated bipedal model subjected to a push disturbance. The biped robot model is considered as a hybrid system with eight degrees of freed...
متن کاملOn the Interaction between the Human and The Robot in Bipedal Walking
The aim of this paper is to emphasize the interaction which should exist between the domains involved in the study of bipedal locomotion, and the limits of this interaction. These domains can be divided into two main fields depending whether they are concerned with living beings or with artificial structures. The project BIP of INRIA has developed an anthropomorphic mechanical biped machine aim...
متن کاملFrom Formal Methods to Algorithmic Implementation of Human Inspired Control on Bipedal Robots
This paper presents the process of translating formal theory and methods to efficient algorithms in the context of human-inspired control of bipedal robots, with the end result being experimentally realized robust and efficient robotic walking with AMBER. We begin by considering human walking data and find outputs (or virtual constraints) that, when calculated from the human data, are described...
متن کاملMulti-contact bipedal robotic locomotion
This paper presents a formal framework for achieving multi-contact bipedal robotic walking, and realizes this methodology experimentally on two robotic platforms: AMBER2 and ATRIAS. Inspired by the key feature encoded in human walking— multi-contact behavior—this approach begins with the analysis of human locomotion and uses it to motivate the construction of a hybrid system model representing ...
متن کاملUnderwater bipedal locomotion by octopuses in disguise.
Here we report bipedal movement with a hydrostatic skeleton. Two species of octopus walk on two alternating arms using a rolling gait and appear to use the remaining six arms for camouflage. Octopus marginatus resembles a coconut, and Octopus (Abdopus) aculeatus, a clump of floating algae. Using underwater video, we analyzed the kinematics of their strides. Each arm was on the sand for more tha...
متن کامل