Metachronal Wave Gait Generation for Hexapod Robots
نویسندگان
چکیده
The metachronal wave is a gait used by most terrestrial arthropods. Each leg only lifts when the leg behind it is on the ground in position to support the animal’s weight. The wave starts from the back as the hind leg lifts and is transferred forward as each leg in turn lifts. At its fastest, it is the tripod gait. In its slowest smooth movement form, only one leg at a time is lifted on each side. This provides increased stability and decreased energy expenditure. Development of stable, smoothly moving metachronal waves for legged robots can provide these same advantages. In this paper we use the Cyclic Genetic Algorithms with an adjustable speed for the robot’s legs to produce the desired metachronal wave.
منابع مشابه
The Offset Model of a Hexapod Robot and the Effect of the Offset Parameter
Generally, it is claimed that hexapod walking robots are superior to others. However, in some conditions hexapod suffers from stability problems. To solve the problem of stability, this paper proposes a new gait model of hexapod robot named offset model and also investigates the effects of morphological factor of hexapod robots on their locomotion. A comparison between the offset model and gene...
متن کاملHexapod Robots: New CPG Model for Generation of Trajectories
Legged robots are often used in a large variety of tasks, in different environments. The large number of degrees-of-freedom, to be controlled during these tasks, turns the online generation of trajectories in these robots very complex. In this paper, we consider a modular approach to online generation of trajectories, based on biological concepts, namely Central Pattern Generators (CPGs). We in...
متن کاملMulti-agent Application: A Novel Algorithm for Hexapod Robots Gait Transitions
In this paper, a gait transition method has proposed that allows a group of multi-agent hexapod robot to switch from one gait to another gait with stable condition, during different terrain navigation. Typical gaits of locomotion are analyzed for hexapod robot. Hexapod robots frequently operate various gaits to locomote over a variety of surfaces. To enable locomotion in a changing surface, hex...
متن کاملAccurate tracking of legged robots on natural terrain
Statically stable walking locomotion research has focused mainly on robot design and gait generation. However, there is a need to expand robots’ capabilities so that walking machines can accomplish the kinds of real tasks for which they are eminently suited. Many such tasks demand trajectory tracking, but researchers have traditionally ignored this subject. This article focuses on the tracking ...
متن کاملEvolving Gaits for the Lynxmotion Hexapod II Robot
Gait generation for hexapod robots can be accomplished with a two-phase process, whereby leg cycles that effectively provide thrust are learned and then the proper selection and coordination of these cycles needed to produce a gait are learned. Genetic algorithms can be used to learn both the leg cycles and the coordination. In previous work, this technique was used successfully to generate gai...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 1998