Paper Info
Title
A Four-legged Robot's Soft Feet Structural Design and Walking Gait Generated from Inverse Kinematics
Abstract
The conventional wheel is famous in the industrial mobile robot because it is simple to build and easy to control and to maneuver. On the other hand, the legged robot is complicated to control but has a high performance in locomotion like highly evolved legged-creatures. This research describes the four-legged robot design platform with the soft feet, which are made by silicone-material forming. The robot's feet are implanted by the strain gauge sensor. The robot can percept the external force sensitively when its feet touch something. The research demonstrates the forward kinematics and inverse kinematics of a four-legged robot with three joints for each. The result has validated the kinematic equations by implementing them on the real dog-like pet robot. The robot walked with a pure walking gait and showed a sensing signal from the soft foot and ground contact.
Year
DOI
Venue
2018
10.5954/icarob.2018.gs2-5
ICAROB 2018: PROCEEDINGS OF THE 2018 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS
Keywords
Field
DocType
Soft material robot,Robot's foot sensing,statics balance condition
Computer vision,Gait,Inverse kinematics,Computer science,Legged robot,Artificial intelligence
Journal
Volume
Issue
Citations 
23
3
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
Amornphun Phunopas101.01
Eiji Hayashi245.36