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New locomotion gaits | IEEE Conference Publication | IEEE Xplore

New locomotion gaits


Abstract:

This paper investigates new modes of robot land locomotion, in particular statically stable non-wheeled, non-tracked locomotion. These locomotion gaits are accomplished b...Show More

Abstract:

This paper investigates new modes of robot land locomotion, in particular statically stable non-wheeled, non-tracked locomotion. These locomotion gaits are accomplished by a reconfigurable modular robot called Polypod using a control scheme combining a small number of primitive control modes for each module. The design of Polypod is first reviewed, then two and three-dimensional locomotion gaits are described along with two "exotic" gaits. These gaits have been implemented on Polypod or simulated on a graphic workstation.<>
Date of Conference: 08-13 May 1994
Date Added to IEEE Xplore: 06 August 2002
Print ISBN:0-8186-5330-2
Conference Location: San Diego, CA, USA

References

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