Motion generation of multi-legged robot with a slider mechanism for each foot

Masaaki Ikeda, Keigo Watanabe, Kiyotaka Izumi

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

2 Citations (Scopus)

Abstract

Now, the locomotion strategy of a legged mobile robot is generally based on a static walking. For the static walking, one or more legs should contact with the ground during each gait cycle. Therefore, the range of the robot activity is limited due to the mechanism, but it can be extended by using the jump. The posture of a leg is changed by imitating a living thing, especially, referring to reptiles and mammals who have four legs. The jumping force is decided based on a CPG. The result of the dynamics simulation by OpenHRP3 is discussed.

Original languageEnglish
Title of host publicationSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PublisherSociety of Instrument and Control Engineers (SICE)
Pages1290-1293
Number of pages4
ISBN (Print)9784907764395
Publication statusPublished - Jan 1 2011
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: Sep 13 2011Sep 18 2011

Publication series

NameProceedings of the SICE Annual Conference

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

  • Central Pattern Generator
  • Jump robot
  • Multi-legged robot

ASJC Scopus subject areas

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

Cite this

Ikeda, M., Watanabe, K., & Izumi, K. (2011). Motion generation of multi-legged robot with a slider mechanism for each foot. In SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts (pp. 1290-1293). [6060533] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).