The equivalent mechanism of the system is often considered as one specific mechanism in most existing studies of multi-legged robots, however the equivalent mechanism is varying while the robot moves on the ground. Fo...The equivalent mechanism of the system is often considered as one specific mechanism in most existing studies of multi-legged robots, however the equivalent mechanism is varying while the robot moves on the ground. Four typical tripod period gaits of a radial symmetrical six-legged robot are analyzed. Similar to the metamorphic mechanism, the locomotion of multi-legged robot is considered as a series of varying hybrid serial-parallel mechanisms by assuming the constraints of the feet on the ground with hinges. One gait cycle is divided into several periods, and in different walking period there is a specific equivalent mechanism corresponding to it, and the walking process of multi-legged robot is composed by these series of equivalent mechanisms. Walking performance can be got by analyzing these series of equivalent mechanisms. Kinematics model of the equivalent mechanism is established, workspaces of equivalent mechanisms are illustrated by simulation and a concept of static stability workspace is proposed to evaluate the static stability of these four gaits. A new method to calculate the stride length of multi-legged robots is presented by analyzing the relationship between the workspace of two adjacent equivalent parallel mechanisms in one gait cycle. The stride lengths of four gaits are given by simulations. Comparison of stride length and static stability among these four typical tripod gaits are given. It has been proved that mixed gait and insect-wave gait II have better static stability than mammal kick-off gait and insect-wave gait I. Insect-wave gait II displays its advantage on stride length while the height of robot body lower than 87 mm, mammal kick-off gait has superiority on stride length while the height of robot body higher than 115 mm, and insect-wave gait I shows its shortcoming in stride length. The proposed method based on metamorphic theory and combining the footholds and body height of robot provides a new method to comprehensive analyze the performance of multi-legged robot.展开更多
Human gait is a complex phenomenon involving the motion of various parts of the body simultaneously in a 3 dimensional space. Dynamics of different parts of the body translate its center of gravity from one point to a...Human gait is a complex phenomenon involving the motion of various parts of the body simultaneously in a 3 dimensional space. Dynamics of different parts of the body translate its center of gravity from one point to another in the most efficient way. Body dynamics as well as static parameters of different body parts contribute to gait recognition. Studies have been performed to assess the discriminatory power of static and dynamic features. The current research literature, however, lacks the work on the comparative significance of dynamic features from different parts of the body. This paper sheds some light on the recognition performance of dynamic features extracted from different parts of human body in an appearance based set up.展开更多
基金supported by National Science Foundation for Distinguished Young Scholoars, China (Grant No. 51125020)Program for New Century Excellent Talents in University, China
文摘The equivalent mechanism of the system is often considered as one specific mechanism in most existing studies of multi-legged robots, however the equivalent mechanism is varying while the robot moves on the ground. Four typical tripod period gaits of a radial symmetrical six-legged robot are analyzed. Similar to the metamorphic mechanism, the locomotion of multi-legged robot is considered as a series of varying hybrid serial-parallel mechanisms by assuming the constraints of the feet on the ground with hinges. One gait cycle is divided into several periods, and in different walking period there is a specific equivalent mechanism corresponding to it, and the walking process of multi-legged robot is composed by these series of equivalent mechanisms. Walking performance can be got by analyzing these series of equivalent mechanisms. Kinematics model of the equivalent mechanism is established, workspaces of equivalent mechanisms are illustrated by simulation and a concept of static stability workspace is proposed to evaluate the static stability of these four gaits. A new method to calculate the stride length of multi-legged robots is presented by analyzing the relationship between the workspace of two adjacent equivalent parallel mechanisms in one gait cycle. The stride lengths of four gaits are given by simulations. Comparison of stride length and static stability among these four typical tripod gaits are given. It has been proved that mixed gait and insect-wave gait II have better static stability than mammal kick-off gait and insect-wave gait I. Insect-wave gait II displays its advantage on stride length while the height of robot body lower than 87 mm, mammal kick-off gait has superiority on stride length while the height of robot body higher than 115 mm, and insect-wave gait I shows its shortcoming in stride length. The proposed method based on metamorphic theory and combining the footholds and body height of robot provides a new method to comprehensive analyze the performance of multi-legged robot.
文摘Human gait is a complex phenomenon involving the motion of various parts of the body simultaneously in a 3 dimensional space. Dynamics of different parts of the body translate its center of gravity from one point to another in the most efficient way. Body dynamics as well as static parameters of different body parts contribute to gait recognition. Studies have been performed to assess the discriminatory power of static and dynamic features. The current research literature, however, lacks the work on the comparative significance of dynamic features from different parts of the body. This paper sheds some light on the recognition performance of dynamic features extracted from different parts of human body in an appearance based set up.
