Study of Gait Patterns for an Hexapod Robot in Search and Rescue Tasks

Jorge De León; Mario Garzón; David Garzón-Ramos; Antonio Barrientos

doi:10.1007/978-3-319-70836-2_60

Study of Gait Patterns for an Hexapod Robot in Search and Rescue Tasks

Jorge De León^*, Mario Garzón, David Garzón-Ramos, Antonio Barrientos

^*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

1 Citation (Scopus)

Abstract

This paper presents a study about gait patterns for hexapod robots with extremities called C-legs. The study analyses several modes of gait that different animals use to move through the terrestrial environment, and another new ones that arise when looking at the limitations that present the existing ones. The whole study is reinforced with a series of simulations carried out, where the obtained results are analysed to select the best gait pattern for a specific situation.

Original language	English
Title of host publication	ROBOT 2017
Subtitle of host publication	3rd Iberian Robotics Conference
Editors	Luis Montano, Nuno Lau, Alberto Sanfeliu, Anibal Ollero, Carlos Cardeira
Publisher	Springer
Pages	731-742
Number of pages	12
ISBN (Print)	9783319708355
DOIs	https://doi.org/10.1007/978-3-319-70836-2_60
Publication status	Published - 2018
Externally published	Yes
Event	3rd Iberian Robotics Conference, ROBOT 2017 - Seville, Spain Duration: 22 Nov 2017 → 24 Nov 2017

Publication series

Name	Advances in Intelligent Systems and Computing
Volume	694
ISSN (Print)	2194-5357

Conference

Conference	3rd Iberian Robotics Conference, ROBOT 2017
Country	Spain
City	Seville
Period	22/11/17 → 24/11/17

Keywords

C-legs
Gait patterns
Hexapod robots
USAR

Access to Document

10.1007/978-3-319-70836-2_60

Link to publication in Scopus

Cite this

De León, J., Garzón, M., Garzón-Ramos, D., & Barrientos, A. (2018). Study of Gait Patterns for an Hexapod Robot in Search and Rescue Tasks. In L. Montano, N. Lau, A. Sanfeliu, A. Ollero, & C. Cardeira (Eds.), ROBOT 2017: 3rd Iberian Robotics Conference (pp. 731-742). (Advances in Intelligent Systems and Computing; Vol. 694). Springer. https://doi.org/10.1007/978-3-319-70836-2_60

@inproceedings{3f62ae827da5493993a207f23377729c,

title = "Study of Gait Patterns for an Hexapod Robot in Search and Rescue Tasks",

abstract = "This paper presents a study about gait patterns for hexapod robots with extremities called C-legs. The study analyses several modes of gait that different animals use to move through the terrestrial environment, and another new ones that arise when looking at the limitations that present the existing ones. The whole study is reinforced with a series of simulations carried out, where the obtained results are analysed to select the best gait pattern for a specific situation.",

keywords = "C-legs, Gait patterns, Hexapod robots, USAR",

author = "{De Le{\'o}n}, Jorge and Mario Garz{\'o}n and David Garz{\'o}n-Ramos and Antonio Barrientos",

year = "2018",

doi = "10.1007/978-3-319-70836-2_60",

language = "English",

isbn = "9783319708355",

series = "Advances in Intelligent Systems and Computing",

publisher = "Springer",

pages = "731--742",

editor = "Luis Montano and Nuno Lau and Alberto Sanfeliu and Anibal Ollero and Carlos Cardeira",

booktitle = "ROBOT 2017",

note = "3rd Iberian Robotics Conference, ROBOT 2017 ; Conference date: 22-11-2017 Through 24-11-2017",

}

De León, J, Garzón, M, Garzón-Ramos, D & Barrientos, A 2018, Study of Gait Patterns for an Hexapod Robot in Search and Rescue Tasks. in L Montano, N Lau, A Sanfeliu, A Ollero & C Cardeira (eds), ROBOT 2017: 3rd Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol. 694, Springer, pp. 731-742, 3rd Iberian Robotics Conference, ROBOT 2017, Seville, Spain, 22/11/17. https://doi.org/10.1007/978-3-319-70836-2_60

Study of Gait Patterns for an Hexapod Robot in Search and Rescue Tasks. / De León, Jorge; Garzón, Mario; Garzón-Ramos, David; Barrientos, Antonio.

ROBOT 2017: 3rd Iberian Robotics Conference. ed. / Luis Montano; Nuno Lau; Alberto Sanfeliu; Anibal Ollero; Carlos Cardeira. Springer, 2018. p. 731-742 (Advances in Intelligent Systems and Computing; Vol. 694).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AB - This paper presents a study about gait patterns for hexapod robots with extremities called C-legs. The study analyses several modes of gait that different animals use to move through the terrestrial environment, and another new ones that arise when looking at the limitations that present the existing ones. The whole study is reinforced with a series of simulations carried out, where the obtained results are analysed to select the best gait pattern for a specific situation.

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ER -

Study of Gait Patterns for an Hexapod Robot in Search and Rescue Tasks

Abstract

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Keywords

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