research-article

Gait Planning of one Amphibious Robot with Six Arc Legs

Authors:

Wenbo Duan,

Junzhan Hou,

Hu Liu,

Bo Hu,

Weiliang Yan,

Hongjian DuanAuthors Info & Claims

ICMRE 2018: Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering

Pages 68 - 72

https://doi.org/10.1145/3191477.3191492

Published: 07 February 2018 Publication History

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Abstract

Amphibious robots are widely studied due to its adaptation to different environments. The tripod gait and tetrapod gait are important patterns for the amphibious robot and usually works on smooth surface. This paper mainly focuses on the simulation of the tripod gait and tetrapod gait patterns of one amphibious robot with six arc legs. What's more, the effects of different support phases on the motion of the robot are analyzed by using the virtual prototype software ADAMS. The presented analysis and simulation method here will benefit the design and the promotion of the amphibious robot.

References

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Cited By

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Miandoab SKiani FUslu E(2020)Generation of Automatic Six-Legged Walking Behavior Using Genetic Algorithms2020 International Conference on INnovations in Intelligent SysTems and Applications (INISTA)10.1109/INISTA49547.2020.9194620(1-5)Online publication date: Aug-2020
https://doi.org/10.1109/INISTA49547.2020.9194620

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Gait Planning of one Amphibious Robot with Six Arc Legs
1. Applied computing
  1. Arts and humanities
    1. Architecture (buildings)
      1. Computer-aided design

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ICMRE 2018: Proceedings of the 2018 4th International Conference on Mechatronics and Robotics Engineering

February 2018

177 pages

ISBN:9781450363655

DOI:10.1145/3191477

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Beijing Jiaotong University
York University

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Association for Computing Machinery

New York, NY, United States

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Published: 07 February 2018

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ICMRE 2018: 2018 4th International Conference on Mechatronics and Robotics Engineering

February 7 - 11, 2018

Valenciennes, France

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Miandoab SKiani FUslu E(2020)Generation of Automatic Six-Legged Walking Behavior Using Genetic Algorithms2020 International Conference on INnovations in Intelligent SysTems and Applications (INISTA)10.1109/INISTA49547.2020.9194620(1-5)Online publication date: Aug-2020
https://doi.org/10.1109/INISTA49547.2020.9194620

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Recommendations

Gait planning research for biped robot with heterogeneous legs

Stable gait planning for biped robot's lower limb based on natural ZMP trajectories

A roller-skating/walking mode-based amphibious robot

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