Emergent Behaviour Real-time Programming of a Six-Legged Omni-Directional Mobile Robot: Strategy of Viennese Waltz behaviour

This paper is concerned with developing a computer programming strategy for Viennese waltz behaviour for the robot pictured in figure 1. Such behaviour means combined translation and rotation. A sun and planet wheel model the behaviour and equations are developed for the six legs to create such behaviour. The planet wheel is divided into discrete angles and the concept of a digital planet wheel is originated such that a programming strategy can be developed. Normalised equations are then developed based on the digital planet wheel. For a movie clip, http://www.franknickolsrobots.com/movie1.htm, (allow time to download):and click on "Baby beetle performing Viennese Waltz"