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

1 Citation (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 publicationProceedings of the SICE Annual Conference
Pages1290-1293
Number of pages4
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

Fingerprint

Mammals
Mobile robots
Robots
Computer simulation

Keywords

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

ASJC Scopus subject areas

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

Cite this

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

Motion generation of multi-legged robot with a slider mechanism for each foot. / Ikeda, Masaaki; Watanabe, Keigo; Izumi, Kiyotaka.

Proceedings of the SICE Annual Conference. 2011. p. 1290-1293 6060533.

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

Ikeda, M, Watanabe, K & Izumi, K 2011, Motion generation of multi-legged robot with a slider mechanism for each foot. in Proceedings of the SICE Annual Conference., 6060533, pp. 1290-1293, 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011, Tokyo, Japan, 9/13/11.
Ikeda M, Watanabe K, Izumi K. Motion generation of multi-legged robot with a slider mechanism for each foot. In Proceedings of the SICE Annual Conference. 2011. p. 1290-1293. 6060533
Ikeda, Masaaki ; Watanabe, Keigo ; Izumi, Kiyotaka. / Motion generation of multi-legged robot with a slider mechanism for each foot. Proceedings of the SICE Annual Conference. 2011. pp. 1290-1293
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