NDLI: Kinematics analysis and experiment of a cockroach-like robot

Content Provider	Springer Nature Link
Author	Gao, Yong Chen, Wei hai Lu, Zhen
Copyright Year	2011
Abstract	This article describes the structure of the cockroach-like robot. Both kinematics and locomotion control are inspired by biological observations in cockroaches. Based on cockroach-like robot kinematics analysis, screw theory, and the production-of-exponential (POE) formula, this paper focuses on the inverse kinematics which uses Paden-Kahan sub-problems to obtain directly the displacement of joint angles. The forward kinematics derives the relationship between joint angles according to the natural restrictions. Then, by using the POE formula, it can deduce the body pose and realize online trajectory control and planning. Through simulation and experimentation, it is proved that the straight-line walking and turning gait algorithms have static stability and the inverse kinematics analysis of cockroach-like robot is correct.
Starting Page	71
Ending Page	77
Page Count	7
File Format	PDF
ISSN	10071172
Journal	Journal of Shanghai Jiaotong University (Science)
Volume Number	16
Issue Number	1
e-ISSN	19958188
Language	English
Publisher	Shanghai Jiaotong University Press
Publisher Date	2011-01-27
Publisher Place	Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	cockroach-like robot kinematics analysis locomotion control Life Sciences Architecture Computer Science Materials Science Electrical Engineering
Content Type	Text
Resource Type	Article
Subject	Multidisciplinary

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Kinematics analysis and experiment of a cockroach-like robot