Study of Gait Patterns for an Hexapod Robot in Search and Rescue Tasks

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Study of Gait Patterns for an Hexapod Robot in Search and Rescue Tasks

Conference Paper (2018)

Author(s)

Jorge De León (Consejo Superior de Investigaciones Científicas CSIC)

Mario Garzón (Consejo Superior de Investigaciones Científicas CSIC)

David Garzón-Ramos (Consejo Superior de Investigaciones Científicas CSIC)

Antonio Barrientos (Consejo Superior de Investigaciones Científicas CSIC)

Affiliation

External organisation

USAR C-legs Gait patterns Hexapod robots

DOI related publication

https://doi.org/10.1007/978-3-319-70836-2_60 Final published version

To reference this document use

https://resolver.tudelft.nl/uuid:3f62ae82-7da5-4939-93a2-07f23377729c

More Info

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Publication Year

2018

Language

English

Affiliation

External organisation

Pages (from-to)

731-742

Publisher

Springer

ISBN (print)

9783319708355

Event

3rd Iberian Robotics Conference, ROBOT 2017 (2017-11-22 - 2017-11-24), Seville, Spain

Downloads counter

156

Abstract

This paper presents a study about gait patterns for hexapod robots with extremities called C-legs. The study analyses several modes of gait that different animals use to move through the terrestrial environment, and another new ones that arise when looking at the limitations that present the existing ones. The whole study is reinforced with a series of simulations carried out, where the obtained results are analysed to select the best gait pattern for a specific situation.