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Romansy 14 pp 431-443 | Cite as

Gait Generation and Mechatronic Design of Planar Walker

  • I-Ming Chen
  • Song Huat Yeo
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)

Abstract

A surface walking/climbing robot is developed based on a simple planar 8-bar locomotion mechanism using four 2-way linear cylinders and four 2-way gripper modules. The robot may traverse a fixed distance or turn at a fixed angle after completing a series of repetitive cylinder and gripper actions termed gaits. Symmetric arrangement of the actuators decouples the translation and rotation of the robot. Hence the robot can swiftly change its direction of travel. Basic locomotion gaits are classified and modeled using finite state machines. Experiments on the real prototype are conducted to establish the repeatability and consistency of gait performances. Mechatronic design of the Planar Walker system is also described.

Keywords

Finite State Machine Stride Length Pivot Joint Gait Transition Gait Sequence 
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 Wien 2002

Authors and Affiliations

  • I-Ming Chen
    • 1
  • Song Huat Yeo
  1. 1.School of Mechanical and Production EngineeringNanyang Technological UniversitySingapore

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