A Physical Model for Dynamical Arthropod Running on Level Ground

Autor:	Daniel E. Koditschek, Robert J. Full, Kiwon Sohn, Haldun Komsuoḡlu
Rok vydání:	2009
Předmět:	Hexapod Computer science business.industry Coordinate system Robotics Terrain Horizontal plane Sagittal plane medicine.anatomical_structure Control theory medicine Robot Artificial intelligence Ground reaction force business
Zdroj:	Experimental Robotics ISBN: 9783642001956 ISER
Popis:	Arthropods with their extraordinary locomotive capabilities have inspired roboticists, giving rise to major accomplishments in robotics research over the past decade. Most notably bio-inspired hexapod robots using only task level open-loop controllers [22, 9] exhibit stable dynamic locomotion over highly broken and unstable terrain. We present experimental data on the dynamics of SprawlHex— a hexapod robot with adjustable body sprawl — consisting of time trajectory of full body configuration and single leg ground reaction forces. The dynamics of SprawlHexis compared and contrasted to that of insects. SprawlHexdynamics has qualitative similarities to that of insects in both sagittal and horizontal plane. SprawlHexpresents a step towards construction of an effective physical model to study arthropod locomotion.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::3a8894d4ae2ca06b9852688ee55d1da2 https://doi.org/10.1007/978-3-642-00196-3_36 Zobrazit plný text záznamu