Guoshuai Liu,∗ Zhiguo Lu,∗ Ruchao Wang,∗ Zhongxing Wang,∗ and Aizun Liu∗∗
Primate-inspired robot, multi-mode motion, various terrains, mode transition
Most mobile robots only have one motion mode, which limits them to a single terrain. Developing multiple motion modes for robots is a feasible approach to enable them to adapt to various terrain. This article develops multiple motion modes for a primate- inspired robot, enabling it to adapt efficiently and stably to various terrains. Firstly, a primate-inspired robot is designed based on the skeletal structure of primates. Secondly, multiple motion modes are designated for the robot according to typical terrains in the wild and in factories, including biped walking, quadruped walking, running, jumping, ladder climbing, and brachiation. Thirdly, controllers are designed for the six motion modes of the primate-inspired robot. Finally, in the robot simulation software Webots, the primate- inspired robot passes through various terrains, including flat ground, slopes, convex plate, horizontal ladders, and vertical ladders. And the robot’s multi-mode motion ability is verified. In addition, the mode transition experiment is conducted on the newly developed physical primate-inspired robot.
Important Links:
Go Back
