TY - GEN
T1 - Motion generation of multi-legged robot with a slider mechanism for each foot
AU - Ikeda, Masaaki
AU - Watanabe, Keigo
AU - Izumi, Kiyotaka
PY - 2011/1/1
Y1 - 2011/1/1
N2 - 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.
AB - 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.
KW - Central Pattern Generator
KW - Jump robot
KW - Multi-legged robot
UR - http://www.scopus.com/inward/record.url?scp=81255200312&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=81255200312&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:81255200312
SN - 9784907764395
T3 - Proceedings of the SICE Annual Conference
SP - 1290
EP - 1293
BT - SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PB - Society of Instrument and Control Engineers (SICE)
T2 - 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
Y2 - 13 September 2011 through 18 September 2011
ER -