Stability analysis of a hexapod robot driven by distributed nonlinear oscillators with a phase modulation mechanism

Yuichi Ambe; Timo Nachstedt; Poramate Manoonpong; Florentin Worgotter; Shinya Aoi; Fumitoshi Matsuno

doi:10.1109/IROS.2013.6697092

Stability analysis of a hexapod robot driven by distributed nonlinear oscillators with a phase modulation mechanism

Yuichi Ambe, Timo Nachstedt, Poramate Manoonpong, Florentin Worgotter, Shinya Aoi, Fumitoshi Matsuno

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

9 Citations (Scopus)

Abstract

In this paper, we investigated the dynamics of a hexapod robot model whose legs are driven by nonlinear oscillators with a phase modulation mechanism including phase resetting and inhibition. This mechanism changes the oscillation period of the oscillator depending solely on the timing of the foot's contact. This strategy is based on observation of animals. The performance of the controller is evaluated using a physical simulation environment. Our simulation results show that the robot produces some stable gaits depending on the locomotion speed due to the phase modulation mechanism, which are simillar to the gaits of insects.

Original language	English
Title of host publication	IROS 2013
Subtitle of host publication	New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages	5087-5092
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2013.6697092
Publication status	Published - 2013
Externally published	Yes
Event	2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan Duration: 2013 Nov 3 → 2013 Nov 8

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Other

Other	2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Country/Territory	Japan
City	Tokyo
Period	13/11/3 → 13/11/8

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2013.6697092

Cite this

Ambe, Y., Nachstedt, T., Manoonpong, P., Worgotter, F., Aoi, S., & Matsuno, F. (2013). Stability analysis of a hexapod robot driven by distributed nonlinear oscillators with a phase modulation mechanism. In IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 5087-5092). [6697092] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2013.6697092

Stability analysis of a hexapod robot driven by distributed nonlinear oscillators with a phase modulation mechanism. / Ambe, Yuichi; Nachstedt, Timo; Manoonpong, Poramate; Worgotter, Florentin; Aoi, Shinya; Matsuno, Fumitoshi.

IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2013. p. 5087-5092 6697092 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ambe, Y, Nachstedt, T, Manoonpong, P, Worgotter, F, Aoi, S & Matsuno, F 2013, Stability analysis of a hexapod robot driven by distributed nonlinear oscillators with a phase modulation mechanism. in IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems., 6697092, IEEE International Conference on Intelligent Robots and Systems, pp. 5087-5092, 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013, Tokyo, Japan, 13/11/3. https://doi.org/10.1109/IROS.2013.6697092

Ambe Y, Nachstedt T, Manoonpong P, Worgotter F, Aoi S, Matsuno F. Stability analysis of a hexapod robot driven by distributed nonlinear oscillators with a phase modulation mechanism. In IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2013. p. 5087-5092. 6697092. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2013.6697092

Ambe, Yuichi ; Nachstedt, Timo ; Manoonpong, Poramate ; Worgotter, Florentin ; Aoi, Shinya ; Matsuno, Fumitoshi. / Stability analysis of a hexapod robot driven by distributed nonlinear oscillators with a phase modulation mechanism. IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2013. pp. 5087-5092 (IEEE International Conference on Intelligent Robots and Systems).

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AB - In this paper, we investigated the dynamics of a hexapod robot model whose legs are driven by nonlinear oscillators with a phase modulation mechanism including phase resetting and inhibition. This mechanism changes the oscillation period of the oscillator depending solely on the timing of the foot's contact. This strategy is based on observation of animals. The performance of the controller is evaluated using a physical simulation environment. Our simulation results show that the robot produces some stable gaits depending on the locomotion speed due to the phase modulation mechanism, which are simillar to the gaits of insects.

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Stability analysis of a hexapod robot driven by distributed nonlinear oscillators with a phase modulation mechanism

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