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Gait Generation and Mechatronic Design of Planar Walker
[chapter]
2002
Romansy 14
A surface walking/climbing robot is developed based on a simple planar 8-bar locomotion mechanism using four 2-way linear cylinders and four 2-way gripper modules. The robot may traverse a fixed distance or turn at a fixed angle after completing a series of repetitive cylinder and gripper actions termed gaits. Symmetric arrangement of the actuators decouples the translation and rotation of the robot. Hence the robot can swiftly change its direction of travel. Basic locomotion gaits are
doi:10.1007/978-3-7091-2552-6_45
fatcat:oehcaxwkxnektclxw3ra2odufi