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Proceedings Paper

Analysis of gaits for a rotating tripedal robot
Author(s): Damian M. Lyons; Kiran Pamnany
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Paper Abstract

A goal of robotics has been to develop mechanisms that have the efficiency and speed of wheeled robots with the terrain flexibility of legged robots. In previous work, we have proposed a unique three-legged mechanism, the rotopod, designed to integrate these two useful approaches to locomotion. In this paper, we present an analysis of the variety of gaits that can be exhibited by the rotopod. We present examples of many of these gaits and discuss their potential use. A trajectory generation algorithm is presented that can be used to generate point to point trajectories using one of three different styles of gait.

Paper Details

Date Published: 25 October 2005
PDF: 8 pages
Proc. SPIE 6006, Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision, 600610 (25 October 2005); doi: 10.1117/12.631022
Show Author Affiliations
Damian M. Lyons, Fordham Univ. (United States)
Kiran Pamnany, Fordham Univ. (United States)


Published in SPIE Proceedings Vol. 6006:
Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision
David P. Casasent; Ernest L. Hall; Juha Röning, Editor(s)

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