Exploration of adaptive gait patterns with a reconfigurable linkage mechanism

Nansai, Shunsuke, Rojas, Nicolas, Elara, Mohan Rajesh and Sosa, Ricardo (2013) Exploration of adaptive gait patterns with a reconfigurable linkage mechanism. In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3 to 7 Nov 2013, Tokyo.

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Legged robots are able to move across irregular terrains and some can be energy efficient, but are often constrained by a limited range of gaits which can limit their locomotion capabilities considerably. This paper reports a reconfigurable design approach to robotic legged locomotion that produces a wide variety of gait cycles, opening new possibilities for innovative applications. In this paper, we present a distance-based formulation and its application to solve the position analysis problem of a standard Theo Jansen mechanism. By changing the configuration of a linkage, our objective in this study is to identify novel gait patterns of interest for a walking platform. The exemplary gait variations presented in this work demonstrate the feasibility of our approach, and considerably extend the capabilities of the original design to not only produce novel cum useful gait patterns but also to realize behaviors beyond locomotion.

Item Type: Conference or Workshop Item (Paper)
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Nicolas Rojas
Date Deposited: 07 Mar 2016 10:13
Last Modified: 07 Mar 2016 10:13
URI: http://sro.sussex.ac.uk/id/eprint/59875
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