The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

We propose a locomotion technique for a legged robot that is high-centered, i.e., a robot stuck on a block with its legs dangling in air. By using its legs as reaction masses, the robot might be able to rock and roll on its stomach and incrementally move forward off the block, a form of legless locomotion using halteres. With locomotion of high-centered robots using body attitude oscillations as motivation, this paper focuses on studying the interplay between leg motions and body roll-pitch-yaw dynamics. We present results from simulation of two simplified models in which body motion is restricted to the roll and roll-yaw space respectively.

Keywords

Legless Locomotion, Dynamics, Kinematics

Notes

Associated Center(s) / Consortia: Center for the Foundations of Robotics

Associated Lab(s) / Group(s): Manipulation Lab

Associated Project(s): Legless Locomotion

Number of pages: 6

Text Reference

Ravi Balasubramanian, Alfred Rizzi, and Matthew T. Mason, "Legless Locomotion for Legged Robots," Proceedings of the International Conference on Robotics and Intelligent Systems, October, 2003, pp. 880 - 885.

BibTeX Reference

@inproceedings{Balasubramanian_2003_4572,
   author = "Ravi Balasubramanian and Alfred Rizzi and Matthew T. Mason",
   title = "Legless Locomotion for Legged Robots",
   booktitle = "Proceedings of the International Conference on Robotics and Intelligent Systems",
   pages = "880 - 885",
   month = "October",
   year = "2003",
   volume = "1",
}

The Robotics Institute

Menu