Though there have been a lot of research in the area of snake-robot kinematics and dynamics, a little attention has been given to find out an optimal gait for the robot. This optimal gait until now is being calculated using a graphical method. An attempt, here, is made to get these optimum gait parameters using evolutionary algorithms. We intend to optimize the input power consumed by the robot...

This paper studies the target tracking control strategy of a snake robot and proposes an adaptive sliding mode method. The ensures follows path by controlling joint angle through feedback, pushing to reach position gait function. In order achieve tracking, kinematic model was first established in this paper. Then, we used double-sine serpentine solve problem low steering efficiency caused regul...

Legged robots are capable of complex dynamic movements such as walking, running, and jumping. Quadruped robots have the minimum number of legs to produce a triangular support polygon that allows the robot to walk with a statically stable gait. To produce coordinated and effective motions for legged robots requires planning algorithms that exploit the natural dynamics of a system. In order to qu...

In this paper, we present a control system based on embedded system according to the features of humanoid robot. First, the image captured by the vision system is recognized through the improved look-up table method. And then with a smooth gait planning of turning motion for humanoid robot presented, the next several motions for the robot can be proposed by the local motion planner based on the...

To implement the various movement control of hexapod robot, a motion controller based on double-layered central pattern generator (CPG) is proposed in this paper. The novel CPG network composed rhythm layer and layer. neurons are constructed Kuramoto nonlinear oscillator. parameters including frequency, coupling strength, phase difference matrix for four typical gaits planned. mapping relations...

Gait plays a decisive role in the performance of hexapod robot walking; this paper focuses on adaptive gait generation with reinforcement learning for robot. Moreover, has high-dimensional action space and therefore it is great challenge to use directly train robot’s joint angles. As result, hierarchical modular framework details are proposed paper, using only seven-dimensional vectors denote a...

Foot bionic robot could be supported and towed through a series of discrete footholds adapted to rugged terrain attitude adjustment. The vibration isolation the decouple fuselage from foot-end trajectories, thus, walked smoothly even if in significant terrain. gait programming foot end trajectory algorithm were simulated. quadruped parallel five linkages with eight degrees freedom tested. kinem...

It is well known that a suitably designed unpowered mechanical biped robot can walk down an inclined plane with a steady gait The characteristics of the gait e g velocity time period step length depend on the geometry and the inertial properties of the robot and the slope of the plane A passive motion has the distinction of being natu ral and is likely to enjoy energy optimality Investiga tion ...