{"title":"利用约束的全向规则自由步态","authors":"Chris Johnson, F. Sahin","doi":"10.1109/SYSOSE.2015.7151903","DOIUrl":null,"url":null,"abstract":"Adaptable gaits are pivotal for allowing legged robots to navigate difficult terrain. One of the best gait styles to accomplish this goal is the rule-based free gait. First the forward and inverse kinematic solutions are solved for TigerBug, a circular hexapod. Then a rule based free gait is implemented on the circular hexapod in order to provide a platform for future rough terrain navigation.","PeriodicalId":399744,"journal":{"name":"2015 10th System of Systems Engineering Conference (SoSE)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Omnidirectional rule-based free gait utilizing restrictedness\",\"authors\":\"Chris Johnson, F. Sahin\",\"doi\":\"10.1109/SYSOSE.2015.7151903\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Adaptable gaits are pivotal for allowing legged robots to navigate difficult terrain. One of the best gait styles to accomplish this goal is the rule-based free gait. First the forward and inverse kinematic solutions are solved for TigerBug, a circular hexapod. Then a rule based free gait is implemented on the circular hexapod in order to provide a platform for future rough terrain navigation.\",\"PeriodicalId\":399744,\"journal\":{\"name\":\"2015 10th System of Systems Engineering Conference (SoSE)\",\"volume\":\"36 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-05-17\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 10th System of Systems Engineering Conference (SoSE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/SYSOSE.2015.7151903\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 10th System of Systems Engineering Conference (SoSE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SYSOSE.2015.7151903","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Adaptable gaits are pivotal for allowing legged robots to navigate difficult terrain. One of the best gait styles to accomplish this goal is the rule-based free gait. First the forward and inverse kinematic solutions are solved for TigerBug, a circular hexapod. Then a rule based free gait is implemented on the circular hexapod in order to provide a platform for future rough terrain navigation.
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