Title :
Gait Planning of the Gecko-Like Robot Transition to Wall
Author :
Jing, Wang ; Ying, Liu ; Xiaohu, Li ; Cai, Meng
Author_Institution :
Sch. of Mech. Eng., Univ. of Sci. & Technol. Beijing, Beijing, China
Abstract :
Through summed up several crawling robot´s gait, based on gecko-like robot´s capability of stable crawling on the ground, a new mode of its transition to wall is designed by theoretic analysis, degree-of-freedom (DOF) calculation, and analysis of the body posture. By ADAMS simulation, the results show that this mode of gait planning for transition is theoretically correct and practically feasible.
Keywords :
legged locomotion; path planning; stability; ADAMS simulation; body posture; crawling robot gait; degree of freedom calculation; gait planning; gecko like robot transition; stable crawling; Joints; Leg; Legged locomotion; Planning; Robot kinematics; Thigh; Gait planning; Gecko-like robot; Transition to wall;
Conference_Titel :
Electrical and Control Engineering (ICECE), 2010 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-6880-5
DOI :
10.1109/iCECE.2010.267
