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A high speed motion capture method and performance metrics for studying gaits on an insect-scale legged robot | IEEE Conference Publication | IEEE Xplore

A high speed motion capture method and performance metrics for studying gaits on an insect-scale legged robot


Abstract:

This paper develops a custom motion capture system that uses vision-based methods to rapidly and accurately track the body and leg position/orientation of a 1.43g legged ...Show More

Abstract:

This paper develops a custom motion capture system that uses vision-based methods to rapidly and accurately track the body and leg position/orientation of a 1.43g legged microrobot, the Harvard Ambulatory MicroRobot (HAMR). Two new generalized metrics for quantifying locomotion performance are defined: amplitude-normalized stride correlation, and percent ineffective stance. Six different gaits are run on HAMR to validate the experimental setup and establish baseline performance. Furthermore, HAMR is compared with the cockroach, Blaberus Discoidalis, and with other legged robots. Future studies can leverage the experimental setup to study gait selection and transitions for small legged systems.
Date of Conference: 24-28 September 2017
Date Added to IEEE Xplore: 14 December 2017
ISBN Information:
Electronic ISSN: 2153-0866
Conference Location: Vancouver, BC, Canada

References

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