Document Type
Article
Disciplines
Computer Engineering | Robotics
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.
Article Number
1030
Publication Date
10-2005
Recommended Citation
Lyons, Damian M. and Pamnany, Kiran, "Analysis of gaits for a rotating tripedal robot" (2005). Faculty Publications. 30.
https://research.library.fordham.edu/frcv_facultypubs/30
Comments
SPIE Conference on Intelligent Robots and Computer Vision XXIV, 23-26 Oct. 2005, Boston, MA.
This research was conducted at the Fordham University Robotics and Computer Vision Lab. For more information about graduate programs in Computer Science, see http://www.cis.fordham.edu/graduate.html, and the Fordham University Graduate School of Arts and Sciences, see http://www.fordham.edu/gsas.