Abstract
Legged robots are able to move across irregular terrains and some can be energy efficient, but are often constrained by a limited range of gaits which can limit their locomotion capabilities considerably. This paper reports a reconfigurable design approach to robotic legged locomotion that produces a wide variety of gait cycles, opening new possibilities for innovative applications. In this paper, we present a distance-based formulation and its application to solve the position analysis problem of a standard Theo Jansen mechanism. By changing the configuration of a linkage, our objective in this study is to identify novel gait patterns of interest for a walking platform. The exemplary gait variations presented in this work demonstrate the feasibility of our approach, and considerably extend the capabilities of the original design to not only produce novel cum useful gait patterns but also to realize behaviors beyond locomotion.
Original language | English |
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Title of host publication | IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems |
Editors | Shigeki Sugano, Makoto Kanedo |
Publisher | IEEE, Institute of Electrical and Electronics Engineers |
Pages | 4661-4668 |
Number of pages | 8 |
ISBN (Print) | 9781467363587 |
DOIs | |
Publication status | Published - 2013 |
Externally published | Yes |
Event | IEEE/RSJ International Conference on Intelligent Robots and Systems 2013 - Tokyo, Japan Duration: 3 Nov 2013 → 7 Nov 2013 http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2013/www.iros2013.org/index.html https://ieeexplore.ieee.org/xpl/conhome/6679723/proceeding (Proceedings) |
Conference
Conference | IEEE/RSJ International Conference on Intelligent Robots and Systems 2013 |
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Abbreviated title | IROS 2013 |
Country/Territory | Japan |
City | Tokyo |
Period | 3/11/13 → 7/11/13 |
Internet address |