@inproceedings{342cb3df2b6b461fae6ec78474649d20,
title = "Four-Legged Walking Robot, Steering and Turning Using Phase Control",
abstract = "Presented is a 4-legged walking robot. Unlike classical models, which require extensive actuation to walk, this robot achieves precise steering using 2 motors. Each motor controls a Theo-Jansen-like mechanism consisting of 2 legs. It is shown that the relative phase between the 2 motors determines the turning rate and direction of movement of the robot. The legs of the robot were designed using a model optimization algorithm, based on the desired trajectory of the legs. A quasi-static kinematic model was developed to predict the trajectory of robot and validate the control process, which is based on the relative phase between the motors. The model is verified via simulations, and a robot was constructed to demonstrate its movement and control process experimentally.",
keywords = "Compliant mechanism, Phase control, Theo-Jansen mechanism, Walking robot",
author = "Tomer Maizel and Izhak Bucher and Eyal Baruch and Yoav Vered and Harel Plat",
note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 31st International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2022 ; Conference date: 08-06-2022 Through 10-06-2022",
year = "2022",
doi = "10.1007/978-3-031-04870-8_62",
language = "الإنجليزيّة",
isbn = "9783031048692",
series = "Mechanisms and Machine Science",
publisher = "Springer Science and Business Media B.V.",
pages = "528--535",
editor = "Andreas M{\"u}ller and Mathias Brandst{\"o}tter",
booktitle = "Advances in Service and Industrial Robotics - RAAD 2022",
address = "ألمانيا",
}