Skip to Main Content
Skip Nav Destination

Precision Programming of Roving Robots: Project-Based Fundamentals of Wheeled, Legged and Hybrid Mobile Robots

By
Francis Nickols
Francis Nickols
Search for other works by this author on:
Yueh-Jaw Lin
Yueh-Jaw Lin
Search for other works by this author on:
ISBN:
9780791861912
No. of Pages:
304
Publisher:
ASME Press
Publication date:
2019

An omni-directional walking robot requires legs whose leg-tips can independently access 3-dimensional space. ‘Omni-directional’ means the ability to walk in all directions such that the walking robot is able to walk sideways left, sideways right, forwards and backwards, and turn left and right. Furthermore, possession of 3dof legs enables the robot to turn while translating, which is similar to ballroom dancers when they dance the Viennese waltz as already discussed in chapter 1. In fact other complex manoeuvres are possible that include maintaining the body in a level attitude as the legs negotiate uneven terrain. Such motion can be analysed...

8.1
Introduction
8.2
Review of the leg tip locus
8.3
The “5-on” gait
8.4
Microcomputer real-time program for the 5-on gait
8.5
Wave or ‘ripple’ action of leg tip motion during walking
8.6
The “4-on” gait
8.7
The “3-on” or “double tripod” gait
8.8
Morphing of the radical waveforms during gait transition
8.9
Locomotion speed in each gait
8.10
The support polygon for static stability
8.11
Walking on 4 legs
8.12
Walking robot turning about an Instantaneous Centre of Rotation, IC of R
8.13
Steps in computing the curvature of the leg tip locus
8.14
Computation of, plangle, P, and radius of curvature, L
This content is only available via PDF.
You do not currently have access to this chapter.
Close Modal

or Create an Account

Close Modal
Close Modal