DocumentCode
2330788
Title
New locomotion gaits
Author
Yim, Mark
Author_Institution
Dept. of Comput. Sci., Stanford Univ., CA, USA
fYear
1994
fDate
8-13 May 1994
Firstpage
2508
Abstract
This paper investigates new modes of robot land locomotion, in particular statically stable non-wheeled, non-tracked locomotion. These locomotion gaits are accomplished by a reconfigurable modular robot called Polypod using a control scheme combining a small number of primitive control modes for each module. The design of Polypod is first reviewed, then two and three-dimensional locomotion gaits are described along with two “exotic” gaits. These gaits have been implemented on Polypod or simulated on a graphic workstation
Keywords
control system synthesis; mobile robots; position control; tracking; Polypod; locomotion gaits; mobile robot; motion control; primitive control modes; reconfigurable modular robot; Computer science; Couplings; Graphics; Kinematics; Laboratories; Leg; Legged locomotion; Mobile robots; Tracking; Turning;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location
San Diego, CA
Print_ISBN
0-8186-5330-2
Type
conf
DOI
10.1109/ROBOT.1994.351134
Filename
351134
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