Locomotion capabilities of a modular robot with eight pitch-yaw-connecting modules
| Autor: | González Gómez, Juan, Zhang, Houxiang, Boemo, Eduardo I., Zhang, Jianwei |
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| Přispěvatelé: | UAM. Departamento de Ingeniería Informática, Sistemas Digitales (ING EPS-007) |
| Jazyk: | angličtina |
| Rok vydání: | 2006 |
| Předmět: | |
| Zdroj: | Biblos-e Archivo. Repositorio Institucional de la UAM instname |
| Popis: | This is an electronic version of the paper presented at the International Conference on Climbing and Walking Robots, held in 2006 on Brussels In this paper, a general classification of the modular robots is proposed, based on their topology and the type of connection between the modules. The loco- motion capabilities of the sub-group of pitch-yaw con- necting robots are analyzed. Five different gaits have been implemented and tested on a real robot composed of eight modules. One of them, rotating, has not been previously achieved. All gaits are implemented using a simple and elegant central pattern generator (CPG) ap- proach that simplify the algorithms of the controlling system. |
| Databáze: | OpenAIRE |
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