On special issue “Gait of Multi-legged Life and Realization by Robots”
نویسندگان
چکیده
منابع مشابه
Fault-Tolerant Gait Planning of Multi-Legged Robots
A fault-tolerant gait of multi-legged systems is defined as a gait which can maintain the gait stability and continue its walking against the occurrence of a leg failure (Yang & Kim, 1998). The notion of the fault-tolerant gait comes from the fact that legged robots with static walking have inherent fault tolerance capability against a failure in a leg, since a failed leg for itself does not ca...
متن کاملGait Generation For Legged Robots
Gait generation is the formulation and selection of a sequence of coordinated leg and body motions that propel a legged robot along a desired path. Approaches to gait generation can be classified into control, behavioral, rule-based, and constraintbased paradigms. We survey these models of gait generation and introduce the Ambler, a hexapod robot that can circulate its legs to produce unique ga...
متن کاملGait Controllability for Legged Robots
We present a general method for determining controllability of a class of kinematic legged robots. The method is general in that it is independent of the robot’s morphology; in particular, it does not depend upon the number of legs. Our method is based on an extension of a nonlinear controllability test for smooth systems to the legged case, where the relevant mechanics are not smooth. Our exte...
متن کاملSpecial Issue on Intelligent Robots
The research on intelligent robots will produce robots that are able to operate in everyday life environments, to adapt their program according to environment changes, and to cooperate with other team members and humans. Operating in human environments, robots need to process, in real time, a large amount of sensory data—such as vision, laser, microphone—in order to determine the best action. I...
متن کاملAdaptable Gait Generation for Autotomised Legged Robots
This paper presents an adaptable gait generation method which allows legged robots to walk in a stable fashion after they have shed a combination of legs. By using this technique, robots will be able to continue with their mission even after a combination of their legs has been damaged. The method selects and calculates the final coordinates of a robot’s stance and swing legs by maximising the ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2019
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.37.114