Gait regulation and feedback on a robotic climbing hexapod

Robotics: Science and Systems

Volumn 2, Issue , 2006, Pages 97-104

  Haynes, G Clark ^a   Rizzi, Alfred A ^a  

^a CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AGRICULTURAL ROBOTS; BUILDING MATERIALS; FEEDBACK; GAIT ANALYSIS; ROBOTS; TEXTURES;

GAIT PARAMETERS; LEGGED ROBOTS; MODIFYING PARAMETERS; MOTION PATTERN; SENSORY DATA; SENSORY INFORMATION; STABLE LOCOMOTION; TEXTURED SURFACE;

ROBOTICS;

EID: 84959275492     PISSN: None     EISSN: 2330765X     Source Type: Conference Proceeding    
DOI: 10.15607/rss.2006.ii.013     Document Type: Conference Paper

References (17)

1. K. Autumn, M. Buehler, M. Cutkosky, R. Fearing, R. J. Full, D. Goldman, R. Groff, W. Provancher, A. A. Rizzi, U. Saranli, A. Saunders, and D. E. Koditschek, "Robotics in scansorial environments," G. R. Gerhart, C. M. Shoemaker, and D. W. Gage, Eds., vol. 5804, no. 1. SPIE, 2005, pp. 291-302. [Online]. Available: http://link.aip.org/link/?PSI/5804/291/1
2. A. T. Asbeck, S. Kim, M. R. Cutkosky, W. R. Provancher, and M. Lanzetta, "Scaling hard vertical surfaces with compliant microspine arrays," in Proceedings of Robotics: Science and Systems, Cambridge, USA, June 2005.
3. D. M. Wilson, "Insect walking," Annual Review of Entomology, vol. 11, pp. 103-122, 1966.
4. H. Cruse, "What mechanisms coordinate leg movement in walking arthropods?" Trends in Neurosciences, vol. 13, pp. 15-21, 1990.
5. R. A. Brooks, "A Robot That Walks; Emergent Behaviors from a Carefully Evolved Network," MIT AI Lab," Memo 1091, February 1989.
6. K. S. Espenschiel, R. D. Quinn, H. J. Chiel, and R. D. Beer, "Leg coordination mechanisms in stick insect applied to hexapod robot locomotion," Adaptive Behavior, vol. 1, no. 4, pp. 455-468, 1993.
7. M. Lewis, A. Fagg, and G. Bekey, "Genetic algorithms for gait synthesis in a hexapod robot," 1993. [Online]. Available: citeseer.ist.psu.edu/lewis94genetic.html
8. D. Wettergreen, H. Thomas, and C. Thorpe, "Planning strategies for the ambler walking robot," in IEEE Int. Conf. on Systems Engineering, August 1990, pp. 198-203.
9. J. Chestnutt, M. Lau, G. Cheung, J. Kuffner, J. K. Hodgins, and T. Kanade, "Footstep planning for the honda asimo humanoid," in IEEE Int. Conf. on Robotics and Automation (ICRA), April 2005.
10. R. Altendorfer, N. Moore, H. Komsuoglu, M. Buehler, H. B. Brown, D. McMordie, U. Saranli, R. Full, and D. Koditschek, "Rhex: A biologically inspired hexapod runner," Autonomous Robots, vol. 11, p. 207, 2001.
11. S. Schaal and C. G. Atkeson, "Open Loop Stable Strategies for Robot Juggling," in International Conference on Robotics and Automation, vol. 3, GA, Atlanta, 1993, pp. 913-918.
12. J. G. Cham, S. A. Bailey, J. E. Clark, R. J. Full, and M. R. Cutkosky, "Fast and robust: Hexapedal robots via shape deposition manufacturing," International Journal of Robotics Research, vol. 21, no. 10, 2002.
13. J. D. Weingarten, G. A. D. Lopes, M. Buehler, R. E. Groff, and D. E. Koditschek, "Automated gait adaptation for legged robots," in IEEE Int. Conf. on Robotics and Automation (ICRA), vol. 3, 2004, pp. 2153-2158.
14. S. Chernova and M. Veloso, "An evolutionary approach to gait learning for four-legged robots," in In Proceedings of IROS'04, September 2004.
15. V. Zykov, J. Bongard, and H. Lipson, "Evolving dynamic gaits on a physical robot," in Late Breaking Papers at the 2004 Genetic and Evolutionary Computation Conference, M. Keijzer, Ed., Seattle, Washington, USA, 26 July 2004. [Online]. Available: http://www.cs.bham.ac.uk/wbl/biblio/gecco2004/LBP065.pdf
16. E. Klavins and D. Koditschek, "Phase regulation of decentralized cyclic robotic systems," The International Journal of Robotics Research, vol. 21, no. 3, 2002.
17. J. D. Weingarten, R. E. Groff, and D. E. Koditschek, "A framework for the coordination of legged robot gaits," in IEEE Int. Conf. on Robotics, Automation and Mechatronics (RAM), vol. 2, 2004, pp. 679-686.