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2006
IEEE

Turning Maneuvers of a Multi-legged Modular Robot Using Its Inherent Dynamic Characteristics

9 years 7 months ago
Turning Maneuvers of a Multi-legged Modular Robot Using Its Inherent Dynamic Characteristics
— This paper deals with the motion of a multi-legged modular robot. The robot consists of six homogenous modules, each of which has a body and two legs and is connected to the others through a three-degree-of-freedom joint. The leg joints are manipulated to follow periodic desired trajectories, and the joints between the modules act like a passive spring with a damper. This robot has characteristic dynamic properties. Specifically, a straight walk naturally turns into a meandering walk by changing the compliance of the joints between the modules without incorporation of any oscillatory inputs. We first show that this transition is excited due to a Hopf bifurcation, based on a numerical simulation and Floquet analysis. Following that, we examine whether the maneuverability and agility increase by utilizing the dynamic characteristics inherent in the robot. In particular, we conduct an experiment in which the robot pursues a target moving across the floor. We propose a simple contro...
Shinya Aoi, Hitoshi Sasaki, Kazuo Tsuchiya
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Shinya Aoi, Hitoshi Sasaki, Kazuo Tsuchiya
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