@inproceedings{5a87ac8448814fe397e803239f970b0a,
title = "Physics-driven Locomotion Planning Method for Multilegged Robots",
abstract = "Deformable robots have an excellent performance in unstructured terrain, because of the highly adaptive configuration. However, most current locomotion planning methods for deformable robots require elaborate manual intervention, so autonomy is urgently demanded. We propose a physics-driven locomotion planning method for multilegged robots. Using an artificial dynamic model, this method can produce the control command automatically once given the desired path. The artificial dynamic model includes only a few parameters with definite physical meanings. This method is evaluated on a 32-legged spherical robot using MSC ADAMS (Automated Dynamic Analysis of Mechanical Systems). The results show that our method is capable of generating a feasible locomotion control scheme for multilegged robots to track smooth paths.",
keywords = "Artificial dynamic model, Automatic locomotion planning, Multilegged robot, Terrain adaptive",
author = "Fei Zhang and Yang Yu",
note = "Publisher Copyright: {\textcopyright} 2021, Avestia Publishing. All rights reserved.; 8th International Conference on Control Systems, and Robotics, CDSR 2021 ; Conference date: 23-05-2021 Through 25-05-2021",
year = "2021",
doi = "10.11159/cdsr21.106",
language = "英语",
isbn = "9781927877876",
series = "International Conference of Control, Dynamic Systems, and Robotics",
publisher = "Avestia Publishing",
booktitle = "Proceedings of the 8th International Conference of Control Systems, and Robotics, CDSR 2021",
address = "加拿大",
}