Self-reconfigurable Quadruped Robot: Design and Analysis

DOI

10.2991/wartia-16.2016.162How to use a DOI?

Keywords

quadruped robot, connector, resilience, self-reconfiguration

Abstract

Self-reconfigurable robot is a kind of robot that is able to recover its original function after partial damage of the robotic system. This is achieved by making changes on the partially damaged robot. This paper put forward a kind of self-reconfigurable quadruped robot based on the resilient theory. First, the concept of the self-reconfigurable robot and the recovery strategy were introduced. Secondly, a novel architecture of modular quadruped robot made by LEGO material was proposed. The connector of interfaces was taken into consideration. At last, the overall mode of the motion and control method with the help of NXT - G program were proposed. The analysis of the overall gait ensures the stability of motion in this phase. As for the uncertain environmental damage to the robot, the robot is able to repair itself by changing the movement type automatically to ensure it continues to work. The result shows that the quadruped robot meets the requirements of resilience and self-reconfiguration.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Yang Zheng
AU  - Zhiqin Qian
AU  - Pingsheng Ma
AU  - Tan Zhang
PY  - 2016/05
DA  - 2016/05
TI  - Self-reconfigurable Quadruped Robot: Design and Analysis
BT  - Proceedings of the 2016 2nd Workshop on Advanced Research and Technology in Industry Applications
PB  - Atlantis Press
SP  - 764
EP  - 769
SN  - 2352-5401
UR  - https://doi.org/10.2991/wartia-16.2016.162
DO  - 10.2991/wartia-16.2016.162
ID  - Zheng2016/05
ER  -