학술논문
Center of mass displacements using rolling gaits for modular robots on the outside of pipes
Document Type
Conference
Source
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Robotics Symposium, 2011 IEEE IX Latin American and IEEE Colombian Conference on Automatic Control and Industry Applications (LARC). :1-6 Oct, 2011
Subject
Language
Abstract
This paper addresses the problem of find modular robot's center of mass displacements when a rolling gait is executed on the outside of a pipe. Parametrization of the gait and a complete forward kinematic model was determined in order to find the center of mass position. The displacements the robot's center of mass during a gait will be used as a energy efficiency metric. A stability issue also will be studied, defining a stability margin for this specific gait. Travel in joint space of the actuators depending of the pipe's radius during the locomotion, will also serve as a metric of energy efficiency and at the same time, a measure of gait smoothness. Considerations for energy efficiency, stability and performance of the gait are presented.