TY - GEN
T1 - Design and evaluation of quadruped gaits for amphibious spherical robots
AU - Shi, Liwei
AU - Pan, Shaowu
AU - Guo, Shuxiang
AU - Tang, Kun
AU - Guo, Ping
AU - Xiao, Rui
AU - He, Yanlin
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016
Y1 - 2016
N2 - Aiming at exploration tasks in complex amphibious environments, quadruped gaits were designed, implemented and evaluated for our amphibious spherical robot to enhance its adaptabilities to various terrains. A simplified locomotion model of the robot was established to analyze the walking process. Then three types of walk gait were implemented on the robotic platform using FPGA, which provided different stability and adjustable motion speeds to adapt various terrains. Furthermore, the attitude of the robot was estimated online using an inertial measurement unit. And the adopted gait was adaptively adjusted with the acquired compensation value, which ensured that the robot was able to walk on a slope no larger than 20 degrees. Evaluation experiments on robotic motion performance indicated that the amphibious spherical robot was capable of moving stably at different speeds in multiple environments, which enhanced its mobility and viability.
AB - Aiming at exploration tasks in complex amphibious environments, quadruped gaits were designed, implemented and evaluated for our amphibious spherical robot to enhance its adaptabilities to various terrains. A simplified locomotion model of the robot was established to analyze the walking process. Then three types of walk gait were implemented on the robotic platform using FPGA, which provided different stability and adjustable motion speeds to adapt various terrains. Furthermore, the attitude of the robot was estimated online using an inertial measurement unit. And the adopted gait was adaptively adjusted with the acquired compensation value, which ensured that the robot was able to walk on a slope no larger than 20 degrees. Evaluation experiments on robotic motion performance indicated that the amphibious spherical robot was capable of moving stably at different speeds in multiple environments, which enhanced its mobility and viability.
UR - https://www.scopus.com/pages/publications/85016778243
U2 - 10.1109/ROBIO.2016.7866270
DO - 10.1109/ROBIO.2016.7866270
M3 - Conference contribution
AN - SCOPUS:85016778243
T3 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
SP - 13
EP - 18
BT - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Y2 - 3 December 2016 through 7 December 2016
ER -