In this paper,we propose a new gait planning method for a multi-legged robot which has only 1 degree-of-freedom in each leg and has a passive body joint between two body segments.We firstly introduce the Finite State ...In this paper,we propose a new gait planning method for a multi-legged robot which has only 1 degree-of-freedom in each leg and has a passive body joint between two body segments.We firstly introduce the Finite State Machine(FSM)to the undulatory gait planning method of the 2n-legged robot.Then,the undulatory gait sequence for straight line motion is achieved by undulations motion.The idea that legged locomotion is achievable by less actuation of 2n-legged robot as well as the gait planning methods are verified finally by simulations and experiments.展开更多
文摘In this paper,we propose a new gait planning method for a multi-legged robot which has only 1 degree-of-freedom in each leg and has a passive body joint between two body segments.We firstly introduce the Finite State Machine(FSM)to the undulatory gait planning method of the 2n-legged robot.Then,the undulatory gait sequence for straight line motion is achieved by undulations motion.The idea that legged locomotion is achievable by less actuation of 2n-legged robot as well as the gait planning methods are verified finally by simulations and experiments.
