The effect of waist twisting on walking speed of an amphibious salamander like robot |
| |
Authors: | Xin-Yan Yin Li-Chao Jia Chen Wang Guang-Ming Xie |
| |
Affiliation: | 1. Intelligent Control Laboratory, College of Engineering, Peking University, Beijing 100871, China;2. Key State Laboratory for Turbulence&Complex Systems, College of Engineering, Peking University, Beijing 100871, China |
| |
Abstract: | Amphibious salamanders often swing their waist to coordinate quadruped walking in order to improve their crawling speed. A robot with a swing waist joint, like an amphibious salamander, is used to mimic this locomotion. A control method is designed to allow the robot to maintain the rotational speed of its legs continuous and avoid impact between its legs and the ground. An analytical expression is established between the amplitude of the waist joint and the step length. Further, an optimization amplitude is obtained corresponding to the maximum stride. The simulation results based on automatic dynamic analysis of mechanical systems (ADAMS) and physical experiments verify the rationality and validity of this expression. |
| |
Keywords: | Terrestrial locomotion Step length Waist twisting Walking speed |
本文献已被 CNKI 万方数据 SpringerLink 等数据库收录! |
|