Generation of a forward motion for a 13-link semi-looper robot

Kiyotaka Izumi, Rongkai Shen, Takeshi Tsujimura, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The motion pattern generation of the 13-link semi-looper robot is discussed in this paper. The semi-looper robot can perform both motion patterns of a green caterpillar and a looper. It is adopted so that the serial link mechanism may achieve the semi-looper robot. A central pattern generator (CPG) is introduced to generate the motion pattern of the 13-link semi-looper robot. The CPG is composed of Matsuoka oscillators. The CPG's structure and design parameters of Matsuoka oscillators are discussed. Some simulations using the open dynamics engine (ODE) demonstrate the designed motion pattern of the 13-link semi-looper robot.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages903-904
Number of pages2
Publication statusPublished - 2011
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: Sep 13 2011Sep 18 2011

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period9/13/119/18/11

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Keywords

  • Bioinspired robotics
  • Biomimetic machine
  • Central pattern generator
  • Inchwarm
  • Motion pattern
  • Open dynamics engine

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Izumi, K., Shen, R., Tsujimura, T., & Watanabe, K. (2011). Generation of a forward motion for a 13-link semi-looper robot. In Proceedings of the SICE Annual Conference (pp. 903-904). [6060637]