In this paper, we propose a new gait planning method for a multi-legged robot which has only 1 degree-of-freedom in each leg and has a passive body joint between two body segments. We firstly introduce the Finite State Machine (FSM) to the undulatory gait planning method of the 2n-legged robot. Then, the undulatory gait sequence for straight line motion is achieved by undulations motion. The idea that legged locomotion is achievable by less actuation of 2n-legged robot as well as the gait planning methods are verified finally by simulations and experiments.


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    Titel :

    Undulatory gait planning method of multi-legged robot with passive-spine


    Beteiligte:
    Yongchen Tang (Autor:in) / Guoteng Zhang (Autor:in) / Dingxin Ge (Autor:in) / Chao Ren (Autor:in) / Shugen Ma (Autor:in)


    Erscheinungsdatum :

    2022




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt




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