Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

Sign In to gain access to subscriptions and/or personal tools.
The International Journal of Robotics Research
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Similar articles in Web of Science
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrowRequest Permissions
Right arrow Request Reprints
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via Web of Science (1)
Right arrow Citing Articles via Google Scholar
Right arrow Citing Articles via Scopus
Google Scholar
Right arrow Articles by Fielding, M. R
Right arrow Articles by Dunlop, G R.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Complore   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati   Add to Twitter  
What's this?

Omnidirectional Hexapod Walking and Efficient Gaits Using Restrictedness

Michael R Fielding

Department of Mechanical Engineering, University of Canterbury, New Zealand

G Reg Dunlop

Department of Mechanical Engineering, University of Canterbury, New Zealand, r.Dunlop{at}canterbury.ac.nz

The "restrictedness" of a hexapod robot’s legs is the degree to which their free movement is restricted in some way. Using the restrictedness to decide when to lift the legs has previously been shown to allow omnidirectional walking using a free gait as well as a tripod gait during straight-ahead walking. In this paper, we develop the previous system to improve the range of forward walking gaits exhibited by the restrictedness controller to include a range of "wave gaits." A simplified robot model was used for an off-line search for the optimal restrictedness components for forward walking. Experimental results from the small hexapod "Hamlet" are presented to show the worth of the restrictedness concept and the modeling process.

Key Words: hexapod • walking • gait • restrictedness • omnidirectional

The International Journal of Robotics Research, Vol. 23, No. 10-11, 1105-1110 (2004)
DOI: 10.1177/0278364904047396
Add to CiteULike CiteULike   Add to Complore Complore   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati   Add to Twitter Twitter    What's this?