A novel approach to gait synchronization and transition for reconfigurable walking platforms

Shunsuke Nansai, Nicolas Rojas, Rajesh Elara Mohan, Ricardo Sosa , Masami Iwase

Research output: Contribution to journalArticleResearchpeer-review

15 Citations (Scopus)


Legged robots based on one degree-of-freedom reconfigurable planar leg mechanisms, that are capable of generating multiple useful gaits, are highly desired due to the possibility of handling environments and tasks of high complexity while maintaining simple control schemes. An essential consideration in these reconfigurable legged robots is to attain stability in motion, at rest as well as while transforming from one configuration to another with the minimum number of legs as long as the full range of their walking patterns, resulting from the different gait cycles of their legs, is achieved. To this end, in this paper, we present a method for the generation of input joint trajectories to properly synchronize the movement of quadruped robots with reconfigurable legs. The approach is exemplified in a four-legged robot with reconfigurable Jansen legs capable of generating up to six useful different gait cycles. The proposed technique is validated through simulated results that show the platform׳s stability across its six feasible walking patterns and during gait transition phases, thus considerably extending the capabilities of the non-reconfigurable design.

Original languageEnglish
Pages (from-to)141-151
Number of pages11
JournalDigital Communications and Networks
Issue number2
Publication statusPublished - 1 Apr 2015
Externally publishedYes


  • Jansen mechanism
  • Legged robot
  • Reconfigurable mechanism
  • Static stability
  • Walking platform

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