A novel approach to gait synchronization and transition for reconfigurable walking platforms

Nansai, Shunsuke; Rojas, Nicolás; Elara, Mohan Rajesh; Sosa, Ricardo; Iwase, Masami

doi:10.1016/j.dcan.2015.04.003

Cited by 18 publications

(5 citation statements)

References 26 publications

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“…By utilizing (18), in the case of the multi-legged robot as an example, since the velocity of the all supporting legs can be controlled arbitrarily, the walking control considering the stability of the robot can be realized.…”

Section: Application Of Proposed Methodsmentioning

confidence: 99%

“…The suggested mechanism switches from a pin-jointed Grübler kinematic chain to a 5-degree-of-freedom mechanism with slider joints during the reconfiguration process. An original design approach has been presented in [18] towards development of a trajectory generator that realizes a set of stable walking gaits, gait synchronization and transition for a reconfigurable Jansen platform.…”

Section: Introductionmentioning

confidence: 99%

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Speed Control of Jansen Linkage Mechanism for Exquisite Tasks

Nansai

Elara

Iwase

2016

JASSE

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This paper reports a toe speed control approach to achieving complex gaits with the Jansen linkage mechanism. In order to achieve complex gaits, delicate control of the toe is required. Since, the Jansen linkage mechanism is a closed loop linkage mechanism, the trajectory of the toe is defined uniquely by the set of link lengths. Hence, by controlling the toe speed, the locomotion of the toe can be controlled arbitrarily in response to intended purposes of its gait pattern. In this paper, we proved that the norm of the toe speed bears a proportionate relationship to the angular velocity of the driving link in a Jansen mechanism based robot platform. Using this relationship as basis, we derived the angular trajectory that results in a constant toe speed in the robot platform. Numerical simulations were performed to demonstrate the efficacy and validity of the proposed approach.

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Section: Application Of Proposed Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Speed Control of Jansen Linkage Mechanism for Exquisite Tasks

Nansai

Elara

Iwase

2016

JASSE

Self Cite

View full text Add to dashboard Cite

show abstract

“…The suggested mechanism switched from a pin-jointed Grübler kinematic chain to a five-degree-of-freedom mechanism with slider joints during the reconfiguration process. An original design approach was presented in [20] to develop a trajectory generator that realized a set of stable walking gaits, gait synchronization, and a transition for a reconfigurable Jansen platform.…”

Section: Introductionmentioning

confidence: 99%

Design and Implementation of a Lizard-Inspired Robot

et al. 2021

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The purpose of this paper is to design a lizard-inspired robot driven by a single actuator. Lizard-inspired robots in previous studies had the issue of slippage of their supporting legs. To overcome this issue, a lizard-inspired robot consisting of a four-bar linkage mechanism was designed. The purpose of this paper was achieved through three processes. The first process was kinematic analysis, where the turning angle and stride length of the robot were analyzed. The kinematic analysis results were verified via numerical simulations. The second process was the design and fabrication of the robot. For the robot’s design, both a shuffle-walking method utilizing a claw-shaped leg mechanism and a sliding-rod mechanism for equipping the actuator on the robot’s own coordinates were designed. The third process was experimental verification. The first experimental result was that the claw-shaped leg mechanism was capable of generating an 85.26 N difference in the static frictional force in the longitudinal direction. The other three experimental results were that the robot was capable of driving with 3.51%, 3.16%, and 3.53% error compared to the kinematic analyses, respectively.

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“…In another instance, the Jansen linkage mechanism, a representative example of closed link mechanism, is capable of transitioning its gaits significantly by changing length ratio of all link [34,35]. In addition, its characteristic influences robot's morphology as well [36]. The snake-like robot is a kind of non-holonomic system, and its non-holonomic constraints come from the characteristic of the non side-slipping passive wheels.…”

mentioning

confidence: 99%

Generalized Singularity Analysis of Snake-Like Robot

2018

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The purpose of this paper is to elucidate a generalized singularity analysis of a snake-like robot. The generalized analysis is denoted as analysis of singularity of a model which defines all designable parameters such as the link length and/or the position of the passive wheel as arbitrary variables. The denotation is a key point for a novelty of this study. This paper addresses the above new model denotation, while previous studies have defined the designable parameters as unique one. This difference makes the singularity analysis difficult substantively. To overcome this issue, an analysis method using redundancy of the snake-like robot is proposed. The proposed method contributes to simplify singularity analysis concerned with the designable parameters. The singular configurations of both the model including side-slipping and the one with non side-slipping are analyzed. As the results of the analysis, we show two contributions. The first contribution is that a singular configuration depends on designable parameters such as link length as well as state values such as relative angles. The second contribution is that the singular configuration is characterized by the axials of the passive wheels of all non side-slipping link. This paper proves that the singular configuration is identified as following two conditions even if the designable parameters are chosen as different variables and the model includes side-slipping link. One is that the axials of passive wheels of all non side-slipping links intersect at a common point. Another one is that axials of passive wheels of all non side-slipping links are parallel.

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A novel approach to gait synchronization and transition for reconfigurable walking platforms

Cited by 18 publications

References 26 publications

Speed Control of Jansen Linkage Mechanism for Exquisite Tasks

Speed Control of Jansen Linkage Mechanism for Exquisite Tasks

Design and Implementation of a Lizard-Inspired Robot

Generalized Singularity Analysis of Snake-Like Robot

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