TY - GEN
T1 - 1STAR, A one-actuator steerable robot
AU - Zarrouk, David
AU - Fearing, Ronald S.
N1 - Publisher Copyright: © 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - We present a novel dynamic gait to control in-plane locomotion [1] (forward, back, clockwise and counter clockwise rotations) of a compliant legged hexapedal robot using a single actuator. The gait exploits the compliance disparity between alternate stance tripods, to generate rotation by controlling the acceleration of the robot [2]. The direction of turning depends on the configuration of the legs - tripod left or right- and the direction of the acceleration. Alternating acceleration in successive steps allows for continuous rotation in the desired direction. A simplified model of a robot is made and a numerical simulation was performed to analyze the behavior and optimize robot parameters. The robot is capable of rotating with a coefficient of friction as low as 0.2 but its performance improves as the COF increases up to 0.6. Beyond that, little change is noticed.
AB - We present a novel dynamic gait to control in-plane locomotion [1] (forward, back, clockwise and counter clockwise rotations) of a compliant legged hexapedal robot using a single actuator. The gait exploits the compliance disparity between alternate stance tripods, to generate rotation by controlling the acceleration of the robot [2]. The direction of turning depends on the configuration of the legs - tripod left or right- and the direction of the acceleration. Alternating acceleration in successive steps allows for continuous rotation in the desired direction. A simplified model of a robot is made and a numerical simulation was performed to analyze the behavior and optimize robot parameters. The robot is capable of rotating with a coefficient of friction as low as 0.2 but its performance improves as the COF increases up to 0.6. Beyond that, little change is noticed.
UR - http://www.scopus.com/inward/record.url?scp=84929851426&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907226
DO - 10.1109/ICRA.2014.6907226
M3 - Conference contribution
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2569
BT - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -