Rapid Maneuvering of a Biologically Inspired Hexapedal Robot

摘要

In dynamic running hexapods, stable and rapid turns can be achieved by small changes in the nominal configuration of the system used for straight-ahead running. Such changes in configuration, or “shape,” alter the direction of the ground reaction forces and result in a high rate of change in heading and orientation. In this paper, we explore strategies for rapid maneuverability of a hexapedal running robot, taking further inspiration from its exemplar, the cockroach. Through simulation and experiments, we show that a one-parameter control input, or turn factor, can be used to coordinate changes in the multi-dimensional configuration space of the robot for efficient turning up to 4 rad/s. This turn factor is used in the characterization of turning dynamics via system identification techniques.