Gait generation for inchworm-like robot locomotion using finite state model

The gait of a multisegment inchworm robot is a series of actuator actions that will change the shape of the robot to generate a net motion. In this article, we model the multisegment inchworm robot as a finite state automaton. Gait generation is posed as a search problem on the graph described by the automaton with prescribed state transitions. The state transitions are defined based on the kinematics of robot locomotion. The auxiliary actuator concept is introduced. Single-stride and multistride gait generations are discussed. Single-stride gaits exhibit fault-tolerant and real-time computation features that are neccessary in actual applications. Both computer simulation and experimental hardware platform are developed for various aspects of the gait generation and planning.