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The effect of waist twisting on walking speed of an amphibious salamander like robot

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Abstract

Amphibious salamanders often swing their waist to coordinate quadruped walking in order to improve their crawling speed. A robot with a swing waist joint, like an amphibious salamander, is used to mimic this locomotion. A control method is designed to allow the robot to maintain the rotational speed of its legs continuous and avoid impact between its legs and the ground. An analytical expression is established between the amplitude of the waist joint and the step length. Further, an optimization amplitude is obtained corresponding to the maximum stride. The simulation results based on automatic dynamic analysis of mechanical systems (ADAMS) and physical experiments verify the rationality and validity of this expression.

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Acknowledgments

This work was supported by the State Key Laboratory of Robotics and System (HIT) (SKLRS-2009-MS-09), the National Natural Science Foundation of China (NSFC) (Grants 61503008, 51575005), and the China Postdoctoral Science Foundation (Grant 2015M570013).

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Authors and Affiliations

  1. Intelligent Control Laboratory, College of Engineering, Peking University, Beijing, 100871, China

    Xin-Yan Yin, Chen Wang & Guang-Ming Xie

  2. Key State Laboratory for Turbulence & Complex Systems, College of Engineering, Peking University, Beijing, 100871, China

    Li-Chao Jia

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  1. Xin-Yan Yin
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  2. Li-Chao Jia
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  3. Chen Wang
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  4. Guang-Ming Xie
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Correspondence to Guang-Ming Xie.

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Yin, XY., Jia, LC., Wang, C. et al. The effect of waist twisting on walking speed of an amphibious salamander like robot. Acta Mech. Sin. 32, 546–550 (2016). https://doi.org/10.1007/s10409-015-0532-4

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  • DOI: https://doi.org/10.1007/s10409-015-0532-4

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