Title :
Optimal gaits generation of a 4-legged walking robot
Author :
Alasty, Aria ; Borujeni, Bayandor Sadeghian
Author_Institution :
Dept. of Mech. Eng., Sharif Univ. of Technol., Tehran, Iran
Abstract :
A novel Locomotion and gait planning method for a surface walking/climbing robot based on sequential 4-bar mechanism motions is presented. The robot moves on a surface through decoupled transverse gaits and turning gaits with desired length and angle. For implementation of turning gaits three methods of simulated annealing accurate planning, gradient based planning and hybrid accurate planning, are studied. Where the last method was found the most effective approach.
Keywords :
gait analysis; legged locomotion; motion control; path planning; robot kinematics; simulated annealing; climbing robot; four bar mechanism motions; gait planning; gradient based planning; hybrid accurate planning; legged locomotion; simulated annealing; walking robot; Buildings; Climbing robots; DC motors; Leg; Legged locomotion; Marine vehicles; Motion planning; Optimization methods; Simulated annealing; Turning;
Conference_Titel :
Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on
Print_ISBN :
0-7803-7729-X
DOI :
10.1109/CCA.2003.1223516
