Gait design by graph coloring for robots that have legs on their faces
| Autor: | Tomohisa Fukuda, Sho'ji Suzuki, Sadayoshi Mikami |
|---|---|
| Rok vydání: | 2015 |
| Předmět: |
Structure (mathematical logic)
business.industry ComputingMilieux_PERSONALCOMPUTING ComputingMethodologies_ARTIFICIALINTELLIGENCE Square (algebra) Computer Science::Robotics Gait (human) Initial phase Robot Condensed Matter::Strongly Correlated Electrons Computer vision Chromatic scale Artificial intelligence Graph coloring business Resource management (computing) ComputingMethodologies_COMPUTERGRAPHICS Mathematics |
| Zdroj: | AIM |
| Popis: | doi: 10.1109/AIM.2015.7222518 This paper proposes a gait design method for robots that have legs on their faces. The method is based on a graph coloring problem in the theory of graphs. Representing a structure of a robot as a graph on a sphere, it is shown that the number of phases of movements needed for a leg is given as a minimum chromatic number of that graph. Also the allocation of an initial phase for each leg is given by a specific coloring pattern. For the demonstration of an actual hardware construction, we show a 12 legged square prismatic robot in which all the legs are driven by a row of gears. |
| Databáze: | OpenAIRE |
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