Exploration of adaptive gait patterns with a reconfigurable linkage mechanism

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

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37 Citations (Scopus)


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 languageEnglish
Title of host publicationIROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
EditorsShigeki Sugano, Makoto Kanedo
PublisherIEEE Computer Society
Number of pages8
ISBN (Print)9781467363587
Publication statusPublished - 2013
Externally publishedYes
EventIEEE/RSJ International Conference on Intelligent Robots and Systems 2013 - Tokyo, Japan
Duration: 3 Nov 20137 Nov 2013
https://ieeexplore.ieee.org/xpl/conhome/6679723/proceeding (Proceedings)


ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems 2013
Abbreviated titleIROS 2013
Internet address

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