Legless Locomotion for Legged Robots

Ravi Balasubramanian

Abstract

We propose a locomotion technique for a legged robot that is high-centered, i.e., a robot stuck on a block with its legs dangling in air. By using its legs as reaction masses, the robot might be able to rock and roll on its stomach and incrementally move forward off the block. Informal experiments with a prototype robot suggest that a properly designed leg motion can produce motion in body roll-yaw space that results in incremental forward translation of the robot. This paper focuses on finding and analyzing suitable leg motions. The result is a form of legless locomotion using halteres. We present results from simulation of two simplified models in which body motion is restricted to the roll and roll-yaw space respectively.

 

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For appointments, please contact Ravi Balasubramanian (bravi@cs.cmu.edu).