Abstract
We present variable amplitude module orthogonal slider (VAMOS), a novel two-motor hexapedal robot that is able to walk and turn with arbitrary curvature. The VAMOS walking mechanism is based around a variable amplitude module (VAM), a compact and modular gearbox that produces reciprocating sinusoidal output of continuously variable amplitude. The inputs to the VAM are a drive motor, rotating at a constant speed, and a single control input for changing the output amplitude. Unlike other methods for amplitude modulation, the VAM does not require modulation of the main drive input and we can, therefore, operate it at peak efficiency thoughout the gait cycle. As demonstrated by VAMOS, the VAM provides a versatile building block for biomimetic robotic gaits.
Highlights
Nature has evolved a series of highly optimised gaits and locomotion methods, all of which rely on natural muscles for actuation
We propose to implement a Variable Amplitude Module (VAM), a gearbox mechanism that allows for reciprocating sinusoidal output of continuously variable amplitude to be generated using a single continuously-rotating prime mover together with a single control input
We have introduced the VAM mechanism for legged robotic locomotion, and presented a kinematic analysis
Summary
Nature has evolved a series of highly optimised gaits and locomotion methods, all of which rely on natural muscles for actuation. A widely adopted approach in legged robotics is to employ one actuator per joint While this allows for each joint to be independently controlled, enabling any gait, the implementation is mechanically relatively complex and distally located actuators increase limb moment of inertia. We propose to implement a Variable Amplitude Module (VAM), a gearbox mechanism that allows for reciprocating sinusoidal output of continuously variable amplitude to be generated using a single continuously-rotating prime mover (e.g. motor) together with a single control input. This is well suited to replicating the modulated reciprocating motion patterns found in Nature.
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 call
