Dynamic modeling and gait analysis for miniature robots in the absence of foot placement control

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buir.contributor.authorAskari, Mohammad
buir.contributor.authorÖzcan, Onur
dc.citation.epage9760en_US
dc.citation.spage9754en_US
dc.contributor.authorAskari, Mohammaden_US
dc.contributor.authorÖzcan, Onuren_US
dc.coverage.spatialMontreal, Quebec, Canadaen_US
dc.date.accessioned2020-01-29T05:53:21Z
dc.date.available2020-01-29T05:53:21Z
dc.date.issued2019
dc.departmentDepartment of Mechanical Engineeringen_US
dc.descriptionDate of Conference: 20-24 May 2019en_US
dc.descriptionConference Name: 2019 International Conference on Robotics and Automation, ICRA 2019en_US
dc.description.abstractThe study of animals and insects have led to realization that animals select their gaits, patterns of leg movement, according to speed. For proper gait planning, the legs must be controlled for proper foot placement with respect to the body motion and ground interactions. However, in small scale robotic platforms gait planning through foot placement control is neither cost effective nor easily attainable due to a lack of available sensors. Thus, even though a desired gait is envisioned at the design phase, it is not known whether the gait is optimum. In this work, we present the comprehensive dynamic model of the miniature foldable robot, MinIAQ-II, which has four independently actuated legs. Dynamic model is used to perform gait analysis, to investigate the difference between the intended gait and the achieved gait in the absence of foot placement control. The model is verified through slow speed walking experiments on flat terrain. The work presented can be modified for different miniature robots with passive legs to predict their locomotion under no foot placement control.en_US
dc.description.sponsorshipBoschen_US
dc.description.sponsorshipDJIen_US
dc.description.sponsorshipKinovaen_US
dc.description.sponsorshipMercedes-Benzen_US
dc.description.sponsorshipSamsungen_US
dc.identifier.doi10.1109/ICRA.2019.8793533en_US
dc.identifier.eisbn9781538660270
dc.identifier.eissn2577-087X
dc.identifier.isbn9781538681763
dc.identifier.issn1050-4729
dc.identifier.urihttp://hdl.handle.net/11693/52888
dc.language.isoEnglishen_US
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.relation.isversionofhttps://dx.doi.org/10.1109/ICRA.2019.8793533en_US
dc.source.titleProceedings of the IEEE International Conference on Robotics and Automation, ICRA 2019en_US
dc.subjectOrigami-inspired robotsen_US
dc.subjectFoldable robotsen_US
dc.subjectMiniature robotsen_US
dc.subjectLegged robotsen_US
dc.subjectGait analysisen_US
dc.subjectDynamicsen_US
dc.titleDynamic modeling and gait analysis for miniature robots in the absence of foot placement controlen_US
dc.typeConference Paperen_US

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