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.
Aims and Scope
ROBOMECH Journal focuses on advanced technologies and practical applications in the field of Robotics and Mechatronics.
The scope of the journal includes but is not limited to:
1. Modeling and design
2. System integration
3. Actuators and sensors
4. Intelligent control
5. Artificial Intelligence
6. Machine Learning
9. Motion control
10. Vibration and noise control
11. Micro/nano devices and optoelectronics systems
12. Automotive systems
13. Applications for extreme and/or hazardous environments
14. Other applications
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2017 Journal Metrics
- ISSN: 2197-4225