Walking Robot Locomotion System Conception

Locomotion Analysis Of A Modular Pentapedal Walking Robot

In this paper, the configuration of a five-limbed modular robot is introduced. A specialised locomotion gait is designed to allow for omni-directional mobility. Due to the large diversity resulting from various gait sequences, a criteria for selecting the best gaits based on their stability characteristics is proposed. A series of simulations is then performed to evaluate the various gaits in d...

Feasibility Study on Walking Training Biped Locomotion Surrogate Robot

Over the past few years in Japan, the number of senior citizens has increased remarkably, and around 1,650,000 of them have gait disorders. Gait disorder means to become difficult of gait by many kinds of cause. For examples, cerebrovascular disorders and joint trouble are the main causes of gait disorders, which are common ailments among those aged 65 to 74. They may be unrelated to the workin...

Biomimetic Locomotion Control of a Quadruped Walking Robot

In this paper, a new biomimetic control method for a quadruped walking robot is proposed. The method is derived by the observation of the gravity load receptor and stimulusreaction mechanism of quadrupeds’ locomotion, and the study of the stances on walking and energy efficiency. Though the controller is simple, it provides a useful framework for controlling a quadruped walking robot. In partic...

Locomotion Transition Scheme of Multi-Locomotion Robot

Compound locomotion control system combining crawling and walking for multi-crawler multi-arm robot to adapt unstructured and unknown terrain

How to improve task performance and how to control a robot in extreme environments when just a few sensors can be used to obtain environmental information are two of the problems for disaster response robots (DRRs). Compared with conventional DRRs, multi-arm multi-flipper crawler type robot (MAMFR) have high mobility and task-execution capabilities. Because, crawler robots and quadruped robots ...