NDLI: A multi-legged robot with less actuators by applying passive body segment joint

Content Provider	IEEE Xplore Digital Library
Author	Yongchen Tang Shugen Ma Yi Sun Dingxin Ge
Copyright Year	2012
Description	Author affiliation: Department of Robotics, Ritsumeikan University, 525-8577 Shiga, Japan (Yongchen Tang; Shugen Ma; Yi Sun; Dingxin Ge)
Abstract	In this paper, we propose a novel configuration of a multi-legged robot which has only one degree of freedom in each leg and a passive body segment joint between each pair of body segments. With this configuration, a robot can perform planar legged locomotion with less actuators than the conventional legged robots. To model the mobility of a robot with this novel configuration, we firstly select candidate configurations from all of the possible configurations by performing mobility analysis on the robot. Then, feasible gait patterns for achieving planar locomotion are designed with these candidate configurations. The idea that legged locomotion is achievable by less actuators as well as the gait planning methods are verified finally by simulations.
Starting Page	1828
Ending Page	2833
File Size	1366447
Page Count	1006
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385763
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Joints Fasteners Actuators Motion segmentation
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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