Complex-order dynamics in hexapod locomotion
نویسندگان
چکیده
منابع مشابه
Complex-order dynamics in hexapod locomotion
This paper studies the dynamics of foot–ground interaction in hexapod locomotion systems. For that objective the robot motion is characterized in terms of several locomotion variables and the ground is modelled through a non-linear springdashpot system, with parameters based on the studies of soil mechanics. Moreover, it is adopted an algorithm with footforce feedback to control the robot locom...
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Biological systems can provide useful insights into principles of design and control of locomotion that can be applied to legged robots. In this paper we review our work on cockroaches using finite element analysis to model how loads are sensed and regulated in walking and climbing. A number of biological studies have shown that sensors that detect forces in the legs of insects are of particula...
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1. Preface and Introduction 1.1 Preface† The field of biorobotics has developed and flourished as a multidisciplinary interface between biologists and engineers (Ritzmann et al., 2000; Webb & Consi, 2001; Ayers et al., 2002). Collaborative work in the field initially arose from the recognition that studies of animal locomotion could provide insights in solving complex problems in the design and...
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Multi-legged robots display significant advantages with respect to wheeled ones for walking over rough terrain because they do not need continuous contact with the ground. In Multi-legged robots, hexapod robots, mechanical vehicles that walk on six legs, have attracted considerable attention in recent decades. There are several benefits for hexapods rover. (a) Hexapod robot is easy to maintain ...
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We describe the locomotion dynamics of a biomimetic robot and compare them with those of its exemplar: the cockroach. The robot is a small (0.275kg) hexapod created using a layered manufacturing technique that allows us to tailor the compliance and damping of the limbs to achieve passive stabilization similar to that observed in insects. The robot runs at over 3 body-lengths per second (55 cm/s...
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ژورنال
عنوان ژورنال: Signal Processing
سال: 2006
ISSN: 0165-1684
DOI: 10.1016/j.sigpro.2006.02.024