On a Jansen leg with multiple gait patterns for reconfigurable walking platforms
Legged robots are able to move across irregular terrains and those based on 1-degree-of-freedom planar linkages can be energy efficient, but are often constrained by a limited range of gaits which can limit their locomotion capabilities considerably. This article reports the design of a novel reconf...
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Online Access: | https://doi.org/10.1177/1687814015573824 |
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doaj-f997805ae8bb4d4e9078a40c86bb08a22020-11-25T03:42:59ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402015-03-01710.1177/168781401557382410.1177_1687814015573824On a Jansen leg with multiple gait patterns for reconfigurable walking platformsShunsuke Nansai0Nicolas Rojas1Mohan Rajesh Elara2Ricardo Sosa3Masami Iwase4Tokyo Denki University, Tokyo, JapanSUTD-MIT International Design Centre, Singapore; presently with the Department of Mechanical Engineering and Materials Science, Yale University, New Haven, CT, USASingapore University of Technology and Design, SingaporeSingapore University of Technology and Design, SingaporeTokyo Denki University, Tokyo, JapanLegged robots are able to move across irregular terrains and those based on 1-degree-of-freedom planar linkages can be energy efficient, but are often constrained by a limited range of gaits which can limit their locomotion capabilities considerably. This article reports the design of a novel reconfigurable Theo Jansen linkage that produces a wide variety of gait cycles, opening new possibilities for innovative applications. The suggested mechanism switches from a pin-jointed Grübler kinematic chain to a 5-degree-of-freedom mechanism with slider joints during the reconfiguration process. It is shown that such reconfigurable linkage significantly extend the capabilities of the original design, while maintaining its mechanical simplicity during normal operation, to not only produce different useful gait patterns but also to realize behaviors beyond locomotion. Experiments with an implemented prototype are presented, and their results validate the proposed approach.https://doi.org/10.1177/1687814015573824 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Shunsuke Nansai Nicolas Rojas Mohan Rajesh Elara Ricardo Sosa Masami Iwase |
spellingShingle |
Shunsuke Nansai Nicolas Rojas Mohan Rajesh Elara Ricardo Sosa Masami Iwase On a Jansen leg with multiple gait patterns for reconfigurable walking platforms Advances in Mechanical Engineering |
author_facet |
Shunsuke Nansai Nicolas Rojas Mohan Rajesh Elara Ricardo Sosa Masami Iwase |
author_sort |
Shunsuke Nansai |
title |
On a Jansen leg with multiple gait patterns for reconfigurable walking platforms |
title_short |
On a Jansen leg with multiple gait patterns for reconfigurable walking platforms |
title_full |
On a Jansen leg with multiple gait patterns for reconfigurable walking platforms |
title_fullStr |
On a Jansen leg with multiple gait patterns for reconfigurable walking platforms |
title_full_unstemmed |
On a Jansen leg with multiple gait patterns for reconfigurable walking platforms |
title_sort |
on a jansen leg with multiple gait patterns for reconfigurable walking platforms |
publisher |
SAGE Publishing |
series |
Advances in Mechanical Engineering |
issn |
1687-8140 |
publishDate |
2015-03-01 |
description |
Legged robots are able to move across irregular terrains and those based on 1-degree-of-freedom planar linkages can be energy efficient, but are often constrained by a limited range of gaits which can limit their locomotion capabilities considerably. This article reports the design of a novel reconfigurable Theo Jansen linkage that produces a wide variety of gait cycles, opening new possibilities for innovative applications. The suggested mechanism switches from a pin-jointed Grübler kinematic chain to a 5-degree-of-freedom mechanism with slider joints during the reconfiguration process. It is shown that such reconfigurable linkage significantly extend the capabilities of the original design, while maintaining its mechanical simplicity during normal operation, to not only produce different useful gait patterns but also to realize behaviors beyond locomotion. Experiments with an implemented prototype are presented, and their results validate the proposed approach. |
url |
https://doi.org/10.1177/1687814015573824 |
work_keys_str_mv |
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