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Robotics 2016, 5(3), 13; doi:10.3390/robotics5030013

Trajectory Generation and Stability Analysis for Reconfigurable Klann Mechanism Based Walking Robot

1
School of Electrical and Electronics Engineering, Singapore Polytechnic, Singapore 6751133, Singapore
2
Institute of Engineering and Technology, Universidad Autónoma de Ciudad Juárez, Cd Juárez 32310, Mexico
3
Engineering Product Development Pillar, Singapore University of Technology and Design, Singapore 487372, Singapore
*
Author to whom correspondence should be addressed.
Academic Editor: Huosheng Hu
Received: 24 March 2016 / Revised: 22 June 2016 / Accepted: 22 June 2016 / Published: 30 June 2016
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Abstract

Reconfigurable legged robots based on one degree of freedom are highly desired because they are effective on rough and irregular terrains and they provide mobility in such terrain with simple control schemes. It is necessary that reconfigurable legged robots should maintain stability during rest and motion, with a minimum number of legs while maintaining their full range of walking patterns resulting from different gait configuration. In this paper we present a method to generate input trajectory for reconfigurable quadruped robots based on Klann mechanism to properly synchronize movement. Six useful gait cycles based on this reconfigurable Klann mechanism for quadruped robots has been clearly shown here. The platform stability for these six useful gait cycles are validated through simulated results which clearly shows the capabilities of reconfigurable design. View Full-Text
Keywords: Klann mechanism; reconfigurable robots; gaits; trajectory generation; stability analysis; synchronization Klann mechanism; reconfigurable robots; gaits; trajectory generation; stability analysis; synchronization
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Kulandaidaasan Sheba, J.; Elara, M.R.; Martínez-García, E.; Tan-Phuc, L. Trajectory Generation and Stability Analysis for Reconfigurable Klann Mechanism Based Walking Robot. Robotics 2016, 5, 13.

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