Bio-inspired step crossing algorithm for a hexapod robot

Bio-inspired step crossing algorithm for a hexapod robot

Inspired by the observation that the cockroach changes the tripod gait to other gait to cross the step, we report on the design of the step crossing gait in a RHex-style hexapod robot which enables the robot to cross the step with height more than twice of the leg length. Similar to the cockroach�...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: Ya-Cheng Chou, Wei-Shun Yu, Ke-Jung Huang, Pei-Chun Lin
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Animals
Legged locomotion
Robot kinematics
Robot sensing systems
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page 1498
container_issue
container_start_page 1493
container_title
container_volume
creator Ya-Cheng Chou
Wei-Shun Yu
Ke-Jung Huang
Pei-Chun Lin
description Inspired by the observation that the cockroach changes the tripod gait to other gait to cross the step, we report on the design of the step crossing gait in a RHex-style hexapod robot which enables the robot to cross the step with height more than twice of the leg length. Similar to the cockroach's motion, the gait is composed by two stages: rearing stage to lift the front side of the body, and lifting stage to maneuver the center of mass of the body to pass the edge of the step. The inclinometer is utilized to detect the height of the step during crossing, so the robot can automatically adjust the gait to cross the steps with different heights. The performance of the algorithm is experimentally evaluated.
doi_str_mv 10.1109/IROS.2011.6094553
format Conference Proceeding
fullrecord <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_6094553</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>6094553</ieee_id><sourcerecordid>6094553</sourcerecordid><originalsourceid>FETCH-LOGICAL-i105t-8893b3ffd9a71446a9191ab70ab1d279099314f6059d48526fbf517e4ab51f8d3</originalsourceid><addsrcrecordid>eNo9kMtKAzEUhuMNrHUeQNzkBWY8Z3KZnKUWL4VCwcu6JE7SRtpmSGahb69gdfXx88G_-Bi7QmgQgW7mz8uXpgXERgNJpcQRq6gzqLE18mebYzZpUYkajNYn7OJPSHX6L5Q5Z1UpHwCA0JEhPWHmLqY67ssQs-95Gf3A33MqJe7X3G7XKcdxs-MhZW75xn_aIfU8J5fGS3YW7Lb46sApe3u4f5091Yvl43x2u6gjghprY0g4EUJPtkMptSUktK4D67BvOwIigTJoUNRLo1odXFDYeWmdwmB6MWXXv7_Re78actzZ_LU6RBDfL5VKvA</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Bio-inspired step crossing algorithm for a hexapod robot</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Ya-Cheng Chou ; Wei-Shun Yu ; Ke-Jung Huang ; Pei-Chun Lin</creator><creatorcontrib>Ya-Cheng Chou ; Wei-Shun Yu ; Ke-Jung Huang ; Pei-Chun Lin</creatorcontrib><description>Inspired by the observation that the cockroach changes the tripod gait to other gait to cross the step, we report on the design of the step crossing gait in a RHex-style hexapod robot which enables the robot to cross the step with height more than twice of the leg length. Similar to the cockroach's motion, the gait is composed by two stages: rearing stage to lift the front side of the body, and lifting stage to maneuver the center of mass of the body to pass the edge of the step. The inclinometer is utilized to detect the height of the step during crossing, so the robot can automatically adjust the gait to cross the steps with different heights. The performance of the algorithm is experimentally evaluated.</description><identifier>ISSN: 2153-0858</identifier><identifier>ISBN: 1612844545</identifier><identifier>ISBN: 9781612844541</identifier><identifier>EISSN: 2153-0866</identifier><identifier>EISBN: 9781612844558</identifier><identifier>EISBN: 1612844553</identifier><identifier>EISBN: 9781612844565</identifier><identifier>EISBN: 1612844561</identifier><identifier>DOI: 10.1109/IROS.2011.6094553</identifier><language>eng</language><publisher>IEEE</publisher><subject>Animals ; Legged locomotion ; Robot kinematics ; Robot sensing systems</subject><ispartof>2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, p.1493-1498</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/6094553$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,776,780,785,786,2052,27904,54898</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/6094553$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Ya-Cheng Chou</creatorcontrib><creatorcontrib>Wei-Shun Yu</creatorcontrib><creatorcontrib>Ke-Jung Huang</creatorcontrib><creatorcontrib>Pei-Chun Lin</creatorcontrib><title>Bio-inspired step crossing algorithm for a hexapod robot</title><title>2011 IEEE/RSJ International Conference on Intelligent Robots and Systems</title><addtitle>IROS</addtitle><description>Inspired by the observation that the cockroach changes the tripod gait to other gait to cross the step, we report on the design of the step crossing gait in a RHex-style hexapod robot which enables the robot to cross the step with height more than twice of the leg length. Similar to the cockroach's motion, the gait is composed by two stages: rearing stage to lift the front side of the body, and lifting stage to maneuver the center of mass of the body to pass the edge of the step. The inclinometer is utilized to detect the height of the step during crossing, so the robot can automatically adjust the gait to cross the steps with different heights. The performance of the algorithm is experimentally evaluated.</description><subject>Animals</subject><subject>Legged locomotion</subject><subject>Robot kinematics</subject><subject>Robot sensing systems</subject><issn>2153-0858</issn><issn>2153-0866</issn><isbn>1612844545</isbn><isbn>9781612844541</isbn><isbn>9781612844558</isbn><isbn>1612844553</isbn><isbn>9781612844565</isbn><isbn>1612844561</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2011</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo9kMtKAzEUhuMNrHUeQNzkBWY8Z3KZnKUWL4VCwcu6JE7SRtpmSGahb69gdfXx88G_-Bi7QmgQgW7mz8uXpgXERgNJpcQRq6gzqLE18mebYzZpUYkajNYn7OJPSHX6L5Q5Z1UpHwCA0JEhPWHmLqY67ssQs-95Gf3A33MqJe7X3G7XKcdxs-MhZW75xn_aIfU8J5fGS3YW7Lb46sApe3u4f5091Yvl43x2u6gjghprY0g4EUJPtkMptSUktK4D67BvOwIigTJoUNRLo1odXFDYeWmdwmB6MWXXv7_Re78actzZ_LU6RBDfL5VKvA</recordid><startdate>201109</startdate><enddate>201109</enddate><creator>Ya-Cheng Chou</creator><creator>Wei-Shun Yu</creator><creator>Ke-Jung Huang</creator><creator>Pei-Chun Lin</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>201109</creationdate><title>Bio-inspired step crossing algorithm for a hexapod robot</title><author>Ya-Cheng Chou ; Wei-Shun Yu ; Ke-Jung Huang ; Pei-Chun Lin</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i105t-8893b3ffd9a71446a9191ab70ab1d279099314f6059d48526fbf517e4ab51f8d3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2011</creationdate><topic>Animals</topic><topic>Legged locomotion</topic><topic>Robot kinematics</topic><topic>Robot sensing systems</topic><toplevel>online_resources</toplevel><creatorcontrib>Ya-Cheng Chou</creatorcontrib><creatorcontrib>Wei-Shun Yu</creatorcontrib><creatorcontrib>Ke-Jung Huang</creatorcontrib><creatorcontrib>Pei-Chun Lin</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Ya-Cheng Chou</au><au>Wei-Shun Yu</au><au>Ke-Jung Huang</au><au>Pei-Chun Lin</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Bio-inspired step crossing algorithm for a hexapod robot</atitle><btitle>2011 IEEE/RSJ International Conference on Intelligent Robots and Systems</btitle><stitle>IROS</stitle><date>2011-09</date><risdate>2011</risdate><spage>1493</spage><epage>1498</epage><pages>1493-1498</pages><issn>2153-0858</issn><eissn>2153-0866</eissn><isbn>1612844545</isbn><isbn>9781612844541</isbn><eisbn>9781612844558</eisbn><eisbn>1612844553</eisbn><eisbn>9781612844565</eisbn><eisbn>1612844561</eisbn><abstract>Inspired by the observation that the cockroach changes the tripod gait to other gait to cross the step, we report on the design of the step crossing gait in a RHex-style hexapod robot which enables the robot to cross the step with height more than twice of the leg length. Similar to the cockroach's motion, the gait is composed by two stages: rearing stage to lift the front side of the body, and lifting stage to maneuver the center of mass of the body to pass the edge of the step. The inclinometer is utilized to detect the height of the step during crossing, so the robot can automatically adjust the gait to cross the steps with different heights. The performance of the algorithm is experimentally evaluated.</abstract><pub>IEEE</pub><doi>10.1109/IROS.2011.6094553</doi><tpages>6</tpages></addata></record>
fulltext fulltext_linktorsrc
identifier ISSN: 2153-0858
ispartof 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, p.1493-1498
issn 2153-0858
2153-0866
language eng
recordid cdi_ieee_primary_6094553
source IEEE Electronic Library (IEL) Conference Proceedings
subjects Animals
Legged locomotion
Robot kinematics
Robot sensing systems
title Bio-inspired step crossing algorithm for a hexapod robot
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-27T22%3A00%3A43IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Bio-inspired%20step%20crossing%20algorithm%20for%20a%20hexapod%20robot&rft.btitle=2011%20IEEE/RSJ%20International%20Conference%20on%20Intelligent%20Robots%20and%20Systems&rft.au=Ya-Cheng%20Chou&rft.date=2011-09&rft.spage=1493&rft.epage=1498&rft.pages=1493-1498&rft.issn=2153-0858&rft.eissn=2153-0866&rft.isbn=1612844545&rft.isbn_list=9781612844541&rft_id=info:doi/10.1109/IROS.2011.6094553&rft_dat=%3Cieee_6IE%3E6094553%3C/ieee_6IE%3E%3Curl%3E%3C/url%3E&rft.eisbn=9781612844558&rft.eisbn_list=1612844553&rft.eisbn_list=9781612844565&rft.eisbn_list=1612844561&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=6094553&rfr_iscdi=true