Gaits and gait transitions for legged robots

Haynes, Galen Clark

doi:10.1109/robot.2006.1641859

Cited by 51 publications

(33 citation statements)

References 10 publications

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“…An open-loop gait repeats the same leg motions, thus the gait function can be represented as a periodic function from the phase of an oscillator, φ ∈ S 1 , to the desired configuration of the robot's joints (Haynes and Rizzi, 2006b;Haynes and Rizzi, 2006a). If the robot's configuration space is denoted as Q, then a gait, g, is a periodic function that can be represented as an embedding of the circle:…”

Section: Gaits and Gait Parametersmentioning

confidence: 99%

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Biologically inspired climbing with a hexapedal robot

Spenko

Haynes

Saunders

et al. 2008

Journal of Field Robotics

393

250

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This paper presents an integrated, systems level view of several novel design and control features associated with the biologically-inspired, hexapedal, RiSE robot. RiSE is the first legged machine capable of locomotion on both the ground and a variety of vertical building surfaces including brick, stucco, and crushed stone at speeds up to 4 cm/s, quietly and without the use of suction, magnets, or adhesives. It achieves these capabilities through a combination of bio-inspired and traditional design methods. This paper describes the design process and specifically addresses body morphology, hierarchical compliance in the legs and feet, and sensing and control systems that enable robust and reliable climbing on difficult surfaces. Experimental results illustrate the effects of various behaviors on climbing performance and demonstrate the robot's ability to climb reliably for long distances.

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Section: Gaits and Gait Parametersmentioning

confidence: 99%

“…A previous method for turning is discussed in (Haynes and Rizzi, 2006b), where the robot alternated between its normal gait and specific "turning" gaits. This approach was difficult to tailor to the adaptive gait systems described here because it assumed that the robot was using fixed gaits.…”

Section: Turning Controlmentioning

confidence: 99%

Biologically inspired climbing with a hexapedal robot

Spenko

Haynes

Saunders

et al. 2008

Journal of Field Robotics

393

250

View full text Add to dashboard Cite

show abstract

“…Both the Skycleaner robot series, as well as the robot developed by Zhu et al adopt a multi-legged tripod gait with respect to the robot's locomotion [29][30][31]. Another robot platform developed by Kawasaki et al possesses a morphology of hexapod robots [32][33][34]. Furthermore, the robot developed by Yano et al uses a biped structure.…”

Section: Suction Cup Adhesionmentioning

confidence: 99%

A Survey of Wall Climbing Robots: Recent Advances and Challenges

Nansai

Elara

2016

Robotics

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Abstract:In recent decades, skyscrapers, as represented by the Burj Khalifa in Dubai and Shanghai Tower in Shanghai, have been built due to the improvements of construction technologies. Even in such newfangled skyscrapers, the façades are generally cleaned by humans. Wall climbing robots, which are capable of climbing up vertical surfaces, ceilings and roofs, are expected to replace the manual workforce in façade cleaning works, which is both hazardous and laborious work. Such tasks require these robotic platforms to possess high levels of adaptability and flexibility. This paper presents a detailed review of wall climbing robots categorizing them into six distinct classes based on the adhesive mechanism that they use. This paper concludes by expanding beyond adhesive mechanisms by discussing a set of desirable design attributes of an ideal glass façade cleaning robot towards facilitating targeted future research with clear technical goals and well-defined design trade-off boundaries.

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“…The moving model of the six-legged robot in its environment is called gait, i.e., a sequence of foot contacts with the ground, which produces motion patterns [7]. There are three types of gaits, i.e., (1) metachronal gait, (2) ripple gait, and (3) tripod gait.…”

Section: A Developing Mechanics Of the Six-legged Robotmentioning

confidence: 99%

Six-Legged Animaloid Robot as a Trainer for Robotic Course

Sendari

Elmunsyah

Mahandi³

2015

Advances in Social Science, Education and Humanities Research

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-The innovation of robot technology attracts students to study and participate in many robot contests. Thus, robotic trainer is very urgent to be developed, especially an animaloid robot, which can encourage both of robotics course and robot contest. Here, the trainer was developed using seven steps of ten steps, i.e., (1) potential and problem, (2) data collection, (3) product design, (4) design validity, (5) design revision, (6) product trials, and (7) product revision. The developed trainer is a sixlegged animaloid robot, which consists of five learning modules, i.e., (1) master-slave communication, (2) ultrasonic ranger, (3) motor servos, (4) flame sensors, and (5) extinguisher. The trainer was evaluated by media and material experts, where the validation results are 94% and 90%, respectively, while the validation result in the implementation stage is 87.31%. The result can be concluded that developed trainer is feasible and can be used as the learning media.

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Gaits and gait transitions for legged robots

Cited by 51 publications

References 10 publications

Biologically inspired climbing with a hexapedal robot

Biologically inspired climbing with a hexapedal robot

A Survey of Wall Climbing Robots: Recent Advances and Challenges

Six-Legged Animaloid Robot as a Trainer for Robotic Course

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