Robot-Crawler: Statically Balanced Gaits Regular Paper

作者：Parasuraman S^*; Hang F J; Khan M K A Ahamed

来源：International Journal of Advanced Robotic Systems, 2012, 9: 231.

DOI：10.5772/53623

• Legged Locomotion
• Walking Robots
• Crawler
• Walking Gait
• Stability Measure

This paper presents a new statically balanced walking technique for a robot-crawler. The gait design and the control of the robot crawler aim to achieve stability while walking. This statically balanced gait has to be designed in a different fashion to a wheeled robot, as there are discrete changes in the support of the robot when its legs are lifted or placed on the ground. The stability of the robot depends on how the legs are positioned relative to the body and also on the sequence and timing with which the legs are lifted and placed. In order to reduce the risk of stability loss while walking, a measure for the robot stability (so-called stability margin) is typically used in the gait and motion planning. In this paper different biological behaviours of four-legged animals are studied and mapped on a quad-legrobot-crawler. Experiments were carried out on the forward walking gaits of lizards and horses. Based on these results, the stability margins of different gaits are discussed and compared.

• 出版日期2012-12-3