Analysis of gaits for a rotating tripedal robot

Damian M. Lyons; Kiran Pamnany

doi:10.1117/12.631022

24 October 2005 Analysis of gaits for a rotating tripedal robot

Damian M. Lyons, Kiran Pamnany

Proceedings Volume 6006, Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision; 600610 (2005) https://doi.org/10.1117/12.631022
Event: Optics East 2005, 2005, Boston, MA, United States

Abstract

A goal of robotics has been to develop mechanisms that have the efficiency and speed of wheeled robots with the terrain flexibility of legged robots. In previous work, we have proposed a unique three-legged mechanism, the rotopod, designed to integrate these two useful approaches to locomotion. In this paper, we present an analysis of the variety of gaits that can be exhibited by the rotopod. We present examples of many of these gaits and discuss their potential use. A trajectory generation algorithm is presented that can be used to generate point to point trajectories using one of three different styles of gait.

Citation Download Citation

Damian M. Lyons and Kiran Pamnany "Analysis of gaits for a rotating tripedal robot", Proc. SPIE 6006, Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision, 600610 (24 October 2005); https://doi.org/10.1117/12.631022

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