Experimental Validation of a Template for Navigation of Miniature Legged Robots
نویسندگان
چکیده
The paper provides experimental evidence to support the recently introduced Switching Four-bar Mechanism (SFM) model as a template for small-scale legged locomotion in quasi-static operation regimes. The evidence suggests that the SFM is suitable for capturing salient motion behaviors—or motion primitives—for multiple, morphologically distinct miniature legged robots. Such primitives can be used to realize navigation strategies, thus demonstrating the practical utility of the SFM template in navigation tasks at small scales.
منابع مشابه
A Template for Miniature Legged Robots in Quasi-Static Motion
We introduce a low-dimensional kinematic abstraction—i.e., template—for miniature legged robots that can be used for quasi-static motion planning in the horizontal plane. The template comprises a rigid torso and four rigid legs which engage in an alternating tetrapod gait. As the gait is executed, the torso and the legs form two switching four-bar linkages, parameterized by the leg touchdown an...
متن کاملA template candidate for miniature legged robots in quasi-static motion
The paper introduces the Switching Four-bar Mechanism (sfm), a new low-dimensional kinematic abstraction forminiature legged robots, aimed at quasi-static motion planning in the horizontal plane. The model comprises a rigid torso and four rigid legs which engage in an alternating tetrapod gait. As the gait is executed, the torso and the legs form two switching four-bar linkages, parameterized b...
متن کاملNavigation Techniques of Mobile Robots In Greenhouses
With the continuous development of the industrialization process, the countries all over the world gradually appeared lack of agricultural labor force and aging phenomenon, which was especially prominent in developed countries. However the agricultural robot with high operating efficiency, high qualities of work will play an increasingly important role in future agricultural production. Robot n...
متن کاملNavigation Techniques of Mobile Robots In Greenhouses
With the continuous development of the industrialization process, the countries all over the world gradually appeared lack of agricultural labor force and aging phenomenon, which was especially prominent in developed countries. However the agricultural robot with high operating efficiency, high qualities of work will play an increasingly important role in future agricultural production. Robot n...
متن کاملNavigation Planning for Legged Robots
As legged robots gain the abilities to walk, run, and balance on more than just flat, obstacle-free floors, they grow closer to fulfilling the potential of legged locomotion shown by biological systems. To truly fulfill this potential these robots must successfully traverse complicated, rough terrain, requiring the robots to step onto or over various features of the environment. Furthermore, wh...
متن کامل