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Locomotive gait generation for inchworm-like robots using finite state approach

Published online by Cambridge University Press:  29 August 2001

I-Ming Chen ,
Song Huat Yeo  and
Yan Gao
I-Ming Chen
Affiliation:
School of Mechanical and Production Engineering, Nanyang Technological University, Nanyang Ave, Singapore 639798
Song Huat Yeo
Affiliation:
School of Mechanical and Production Engineering, Nanyang Technological University, Nanyang Ave, Singapore 639798
Yan Gao
Affiliation:
School of Mechanical and Production Engineering, Nanyang Technological University, Nanyang Ave, Singapore 639798
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Abstract

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The gait of a multi-segment inchworm robot is a series of actuator actions that will change the shape of the robot to generate a net motion. In this paper, we model the multi-segment inchworm robot as a finite state automaton. Gait generation is posed as a search problem on the graph described by the automaton with prescribed state transitions. The state transitions are defined based on the kinematics of robot locomotion. The auxiliary actuator concept is introduced. Single-stride and multi-stride gait generations are discussed. Single-stride gaits exhibit fault-tolerant and real-time computation features that are necessary in actual applications. Both computer simulation and experimental hardware platform are developed for various aspects of gait generation and planning.

Keywords

Inchworm robotGait generationFinite state model
Type
Research Article
Information
Robotica , Volume 19 , Issue 5 , September 2001 , pp. 535 - 542
Copyright
© 2001 Cambridge University Press