DocumentCode :
18768
Title :
Controlled In-Plane Locomotion of a Hexapod Using a Single Actuator
Author :
Zarrouk, David ; Fearing, Ronald S.
Author_Institution :
Dept. of Mech. Eng., Ben-Gurion Univ. of the Negev, Beer-Sheva, Israel
Volume :
31
Issue :
1
fYear :
2015
fDate :
Feb. 2015
Firstpage :
157
Lastpage :
167
Abstract :
This paper presents “1STAR,” which is the first robot that is driven by a single actuator but can be directly commanded to move straight or turn clockwise or counterclockwise. The legged robot relies on a novel actuation gait, which exploits the compliance disparity between alternate stance tripods, to generate rotation by continuously accelerating and decelerating the legs. The direction of turning depends on the configuration of the legs-tripod left or right-and the timing of the acceleration and deceleration. Alternating leg acceleration in successive steps allows for continuous rotation in the desired direction. The turning radius can be varied by changing the timing of the leg acceleration and deceleration without changing the cycle frequency and linear speed. A simplified kinematic motion model of a robot is presented, and a dynamic simulation is performed to analyze the behavior and optimize robot parameters. The locomotion gait is verified experimentally using our newly designed “1STAR” robot.
Keywords :
acceleration control; actuators; legged locomotion; robot kinematics; 1STAR robot; actuation gait; alternate stance tripods; compliance disparity; hexapod controlled in-plane locomotion; kinematic motion model; leg acceleration; leg deceleration; legged robot; locomotion gait; mechanical intelligence; rotation generation; single actuator steerable robot; Acceleration; Friction; Hip; Legged locomotion; Springs; Turning; Legged locomotion; mechanical intelligence; minimal actuation; robot control; robots;
fLanguage :
English
Journal_Title :
Robotics, IEEE Transactions on
Publisher :
ieee
ISSN :
1552-3098
Type :
jour
DOI :
10.1109/TRO.2014.2382981
Filename :
7010029
Link To Document :
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