Gait Analysis and Improvement of Hexapod Mobile Robot Using Tetrahedral-Shaped Pneumatic Soft Actuators-Reference-Cited by-同舟云学术

Gait Analysis and Improvement of Hexapod Mobile Robot Using Tetrahedral-Shaped Pneumatic Soft Actuators

Published:2023-06-20 Issue:3 Volume:35 Page:661-668
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Cho Feifei¹,Hase Kenta²,Akagi Tetsuya¹,Dohta Shujiro¹,Shinohara Takashi¹,Yokota Masashi¹

Affiliation:

1. Okayama University of Science, 1-1 Ridai-cho, Kita-ku, Okayama 700-0005, Japan

2. Graduate School of Engineering, Okayama University of Science, 1-1 Ridai-cho, Kita-ku, Okayama 700-0005, Japan

Abstract

In recent years, the aging of society has led to challenges such as ensuring adequate facility capacity and promoting health maintenance for the elderly. Consequently, there has been a growing demand for rehabilitation and fitness equipment suitable for use in limited spaces such as homes. In a previous study, a hexapod mobile robot, equipped with six tetrahedral-shaped pneumatic soft actuators (TSAs), was developed as a core training device to address these issues. However, the robot’s gait was investigated experimentally via a trial-and-error process. Hence, it is necessary to examine the stability of the gait. In this study, a straightforward model is presented for gait analysis of the mobile robot. Furthermore, the stability of the gait is demonstrated based on the analysis, and a more efficient gait with a sufficient stability margin is introduced.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

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