Name
Abstract | ||
|---|---|---|
We show through experiment and simulation that a high-centered round-bodied legged robot can lo- comote by generating out-of-phase motions of reaction masses attached to its legs. These leg motions create body attitude oscillations which, when coupled with the slip- free contact constraints, locomote the robot. By varying the mean position of the leg oscillations, the robot can move in different directions in the plane. We also present some simplified models, where body attitude dynamics and contact kinematics are decoupled, to explain this form of legless locomotion. |
Year | DOI | Venue |
|---|---|---|
2004 | 10.1109/ROBOT.2004.1308085 | Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference |
Keywords | Field | DocType |
mobile robots,robot dynamics,body attitude oscillations,high centered round bodied legged robot,leg motions,leg oscillations,legless locomotion,out of phase motions,reaction masses,robot locomotion,slip free contact constraints | Kinematics,Simulation,Control theory,Legged robot,Robot kinematics,Control engineering,Robot locomotion,Engineering,Robot,Mobile robot | Conference |
Volume | ISSN | ISBN |
2 | 1050-4729 | 0-7803-8232-3 |
Citations | PageRank | References |
3 | 0.45 | 7 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ravi Balasubramanian | 1 | 113 | 15.37 |
| Alfred A. Rizzi | 2 | 1208 | 179.03 |
| Matthew T Mason | 3 | 2102 | 989.62 |