TY - GEN
T1 - Stability analysis of a hexapod robot driven by distributed nonlinear oscillators with a phase modulation mechanism
AU - Ambe, Yuichi
AU - Nachstedt, Timo
AU - Manoonpong, Poramate
AU - Worgotter, Florentin
AU - Aoi, Shinya
AU - Matsuno, Fumitoshi
PY - 2013
Y1 - 2013
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=84893718417&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893718417&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6697092
DO - 10.1109/IROS.2013.6697092
M3 - Conference contribution
AN - SCOPUS:84893718417
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5087
EP - 5092
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -