Abstract
In this paper, we propose two gait strategies for a limb mechanism robot, called ASTERISK, to move on narrow spaces. Specifically, we describe two types of locomotion, namely, vertical-body climbing gait and horizontal-body climbing gait, that the robot uses to climb on two parallel walls. The proposed strategies are verified through both simulations and experiments on an actual robot. Moreover, to reduce power consumption during locomotion, we employ a power efficiency model based on the pose of the robot and its limbs. The simulation and experimental results confirm the effectiveness of proposed gait strategies.
Highlights
Forthcoming robots are expected to assist humans in hazardous areas to perform tasks such as the maintenance and inspection of plants, disaster response, construction operations, and demining [1, 2]. Such robots will be used in a various scenarios including structured or unstructured environments, flat or rough terrain, indoor or outdoor, and narrow spaces
A crawler robot has no such limitation, its mechanism has another problem in stability when applied in different types of terrain
On the other hand, legged robots have been proposed as a general solution for any type of terrain [4,5,6]
Summary
Forthcoming robots are expected to assist humans in hazardous areas to perform tasks such as the maintenance and inspection of plants, disaster response, construction operations, and demining [1, 2]. Such robots will be used in a various scenarios including structured or unstructured environments, flat or rough terrain, indoor or outdoor, and narrow spaces. A wheel-based robot generally has limitations in locomotion over rough terrain. A crawler robot has no such limitation, its mechanism has another problem in stability when applied in different types of terrain. Legs allow the robot to flexibly select the contact points for locomotion, becoming suitable even for irregular terrain
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
