Please use this identifier to cite or link to this item: http://hdl.handle.net/11452/32711
Title: Morphological computation of multi-gaited robot locomotion based on free vibration
Authors: Yu, Xiaoxiang
Maheshwari, Nandan
Iida, Fumiya
Uludağ Üniversitesi/Mühendislik Fakültesi/Makine Mühendisliği Bölümü.
0000-0001-5853-488X
Reis, Murat
AAI-1786-2019
26322781800
Keywords: Computer science
Morphology
Legged locomotion
Multi-gait
Resonance
Robot
Pattern generators
Walking
Oscillators
Energetics
Dynamics
Driven
Design
Phase
Elastic beam
Guiding principles
Legged locomotion
Locomotion patterns
Mechanical dynamics
Morphological computation
Multi-gait
Self-organizing behavior
Adaptive systems
Degrees of freedom (mechanics)
Gait analysis
Morphology
Resonance
Robotics
Robots
Issue Date: Jan-2013
Publisher: MIT Press
Citation: Reis, M. vd. (2013). "Morphological computation of multi-gaited robot locomotion based on free vibration". Artificial Life, 19(1), 97-114.
Abstract: In recent years, there has been increasing interest in the study of gait patterns in both animals and robots, because it allows us to systematically investigate the underlying mechanisms of energetics, dexterity, and autonomy of adaptive systems. In particular, for morphological computation research, the control of dynamic legged robots and their gait transitions provides additional insights into the guiding principles from a synthetic viewpoint for the emergence of sensible self-organizing behaviors in more-degrees-of-freedom systems. This article presents a novel approach to the study of gait patterns, which makes use of the intrinsic mechanical dynamics of robotic systems. Each of the robots consists of a U-shaped elastic beam and exploits free vibration to generate different locomotion patterns. We developed a simplified physics model of these robots, and through experiments in simulation and real-world robotic platforms, we show three distinctive mechanisms for generating different gait patterns in these robots.
URI: https://doi.org/10.1162/artl_a_00084
http://hdl.handle.net/11452/32711
ISSN: 1064-5462
1530-9185
Appears in Collections:Scopus
Web of Science

Files in This Item:
There are no files associated with this item.


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.