Name
Abstract | ||
|---|---|---|
Abstracting cockroach locomotion principles with reduced actuation can lead to a simple yet effective cockroach-like vehicle able to traverse irregular terrain. One such hexapod robot is Whegs VP, which achieves a cockroach-like nominal tripod gait using only a single DC motor. Whegs VP uses compliant mechanisms in its axles to passively adapt its gait to the terrain such that it can climb obstacles 175% of its leg height. High speed video analysis of walking cockroaches and Whegs VP illustrates that Whegs VP walks with cockroach-like body motions. The experiments indicate that stepping patterns play a major role in an animal's or robot's overall body motions. |
Year | DOI | Venue |
|---|---|---|
2004 | 10.1109/ROBOT.2004.1308761 | Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference |
Keywords | Field | DocType |
biocybernetics,biomechanics,legged locomotion,DC motor,biocybernetics,biomechanics,cockroach locomotion principles,cockroach-like body motions,cockroach-like nominal tripod,cockroach-like vehicle,compliant mechanism,hexapod robot,irregular terrain,obstacles,stepping patterns,video analysis,whegs VP,whegs robot body motions | Compliant mechanism,Gait,Simulation,Control theory,DC motor,Control engineering,Engineering,Hexapod,Robot,Climb,Traverse,Biocybernetics | Conference |
Volume | ISSN | ISBN |
4 | 1050-4729 | 0-7803-8232-3 |
Citations | PageRank | References |
9 | 0.83 | 7 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Robert T. Schroer | 1 | 9 | 0.83 |
| Matthew Boggess | 2 | 9 | 0.83 |
| Richard J. Bachmann | 3 | 107 | 19.30 |
| Roger D. Quinn | 4 | 952 | 208.66 |
| Roy E. Ritzmann | 5 | 267 | 41.94 |