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Limbless Conforming Gaits with Modular Robots

  • Mark Yim
  • Craig Eldershaw
  • Ying Zhang
  • David Duff
XI. Walking Robots
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 21)

Abstract

This paper presents experimentation using the PolyBot modular robot of two limbless gaits which conform to environment. A conforming loop gait is low profile and traverses over a variety of obstacles where the ratio of the height of the obstacle to robot is up to 1.3. A concertina snake gait is capable of negotiating narrow passages (for example a width of double the width of the robot itself), including those with bends as sharp as 110°. It is well suited to locomotion in unstructured tunnels. One little appreciated point that is emphasized in this paper is that the difficulty of an environment is always relative to size of the robot itself.

Keywords

Ground Squirrel Stair Climbing Touch Sensor Snake Robot Modular Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Mark Yim
    • 1
  • Craig Eldershaw
    • 1
  • Ying Zhang
    • 1
  • David Duff
    • 1
  1. 1.Palo Alto Research Center 3333 Coyote Hill Rd, Palo Alto, CA 94304USA

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