In this paper, micro controller is used to control the thermal states of Flexinol wires which actuating legs of the insect-like legged robot. The design emphasizes mechanical simplicity as well as power and computational autonomy for lightweight walking robot applications. The kinematics workspace characteristics has been applied on to a test rig to examine and improve the motion feasibility wi...

In this paper we describe detail of hardware design of novel self-reconfigurable robotic system. We have classified previous studies on self-reconfigurable robotic systems into “lattice type” composed of spatially symmetric modules and “string type” like snake robots. The proposed system has both the advantages of simple operation of self-reconfiguration of the former and motion generation abil...

An exportable and robust system using only camera images is proposed for path execution in robot navigation. Motion information is extracted in the form of optical flow from SURF robust descriptors of consecutive frames, so the method is called SURF flow. This information is used to correct robot displacement when a straight forward path command is sent to the robot, but it is not really execut...

In this study, kinematics and dynamic simulation of a six-legged robot is performed based on virtual prototyping technology. Modeling and simulation of sixlegged robot with three joint legs are carried out with CATIA solid modeler, SimDesigner and ADAMS multibody dynamic solver. Tripod periodic gait pattern was generated varying the cycle time as well as stroke of the swing of the legs. Variati...

Although legged mobile robots are inferior to wheeled or crawler types in mobility efficiency on the flat ground, they demonstrate high motion performance and adaptation capability to the ground by utilizing their high degrees of freedom (DOF). Since such robots choose stable leg-placement, stable movements can be performed on irregular terrains ( afak & Adams, 2002). Moreover, they demonstrate...

This paper presents the kinematic study of periodic gaits for multi-legged locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective the prescribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step length, stroke pitch, maximu...

We present a parametric walk model for a four-legged robot. The walk model is improved using a genetic algorithm, but unlike previous approaches, the fitness is determined in a run that closely resembles the later application. We thus not only achieve high speeds, but also a high degree of flexibility. In addition to the walking model being flexible, we present a means of automatically calibrat...

We derive a hybrid feedback control law for the lateral leg spring (LLS) model so that the center of mass of a legged runner follows a curved path in horizontal plane. The control law enables the runner to change the placement and the elasticity of its legs to move in a desired direction. Stable motion along a curved path is achieved using curvature, bearing and relative distance between the ru...

The locomotion of quadruped and humanoid robots shares some characteristics with the one of animals and humans: a kinematic tree structure and a free-floating base, switches in the model due to different contact situations and a high number of degrees of freedom consisting of many links and many actuated joints. One main difference is in actuation: while robots commonly are driven by (at most) ...

Animals and legged robots balance dynamically by placing their feet into proper ground targets [1], which can be identified with simple locomotion models [2][3]. Commonly, fully robotic systems realize identified foot placements using inverse dynamics and kinematics [4], which requires a highfidelity system model and accurate estimate of a robot's full state, whereas human-in-the-loop applicati...