Kinematics Analysis and Experiment of a Cockroach-Like Robot

This article describes the structure of the cockroach-like robot.Both kinematics and locomotion control are inspired by biological observations in cockroaches.Based on cockroach-like robot kinematics analysis,screw theory,and the production-of-exponential （POE） formula,this paper focuses on the inve...

Full description

Saved in:
Bibliographic Details
Published inShanghai jiao tong da xue xue bao Vol. 16; no. 1; pp. 71 - 77
Main Author 高勇 陈伟海 陆震
Format Journal Article
LanguageEnglish
Published Heidelberg Shanghai Jiaotong University Press 01.02.2011
Subjects
Architecture
Computer Science
Electrical Engineering
Engineering
Life Sciences
Materials Science
cockroach-like robot
TP 242
kinematics analysis
locomotion control
Online AccessGet full text

Cover

More Information
Summary:This article describes the structure of the cockroach-like robot.Both kinematics and locomotion control are inspired by biological observations in cockroaches.Based on cockroach-like robot kinematics analysis,screw theory,and the production-of-exponential （POE） formula,this paper focuses on the inverse kinematics which uses Paden-Kahan sub-problems to obtain directly the displacement of joint angles.The forward kinematics derives the relationship between joint angles according to the natural restrictions.Then,by using the POE formula,it can deduce the body pose and realize online trajectory control and planning.Through simulation and experimentation,it is proved that the straight-line walking and turning gait algorithms have static stability and the inverse kinematics analysis of cockroach-like robot is correct.
Bibliography:cockroach-like robot; kinematics analysis; locomotion control
TP242
cockroach-like robot
31-1943/U
kinematics analysis
locomotion control
ISSN:1007-1172
1995-8188
DOI:10.1007/s12204-011-1097-4