Journal of Robotics, Networking and Artificial Life

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Volume 5, Issue 3, December 2018, Pages 161 - 164

A Four-legged Robot’s Soft Feet Structural Design and Walking Gait Generated from Inverse Kinematics

Authors
Amornphun Phunopas1, *, Eiji Hayashi2
1Department of Production Engineering, King Mongkut’s University of Technology North Bangkok, Bang Sue, Bangkok 10800, Thailand
2Computer Science and Systems Engineering, Kyushu Institute of Technology, Iizuka, Fukuoka 820-0067, Japan
*Corresponding author. Email: amornphun.p@eng.kmutnb.ac.th
Corresponding Author
Amornphun Phunopas
Received 25 July 2018, Accepted 12 November 2018, Available Online 1 December 2018.
DOI
10.2991/jrnal.2018.5.3.4How to use a DOI?
Keywords
Soft material robot; robot’s foot sensing; statics balance condition
Abstract

The conventional wheel is famous in the industrial mobile robot because it is simple to build and easy to control and to maneuver. On the other hand, the legged robot is complicated to control but has a high performance in locomotion like highly evolved legged-creatures. This research describes the four-legged robot design platform with the soft feet, which are made by silicone-material forming. The robot’s feet are implanted by the strain gauge sensor. The robot can percept the external force sensitively when its feet touch something. The research demonstrates the forward kinematics and inverse kinematics of a four-legged robot with three joints for each. The result has validated the kinematic equations by implementing them on the real dog-like pet robot. The robot walked with a pure walking gait and showed a sensing signal from the soft foot and ground contact.

Copyright
© 2018 The Authors. Published by Atlantis Press SARL.
Open Access
This is an open access article under the CC BY-NC license (http://creativecommons.org/licences/by-nc/4.0/).

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Journal
Journal of Robotics, Networking and Artificial Life
Volume-Issue
5 - 3
Pages
161 - 164
Publication Date
2018/12/01
ISSN (Online)
2352-6386
ISSN (Print)
2405-9021
DOI
10.2991/jrnal.2018.5.3.4How to use a DOI?
Copyright
© 2018 The Authors. Published by Atlantis Press SARL.
Open Access
This is an open access article under the CC BY-NC license (http://creativecommons.org/licences/by-nc/4.0/).

Cite this article

risenwbib
TY  - JOUR
AU  - Amornphun Phunopas
AU  - Eiji Hayashi
PY  - 2018
DA  - 2018/12/01
TI  - A Four-legged Robot’s Soft Feet Structural Design and Walking Gait Generated from Inverse Kinematics
JO  - Journal of Robotics, Networking and Artificial Life
SP  - 161
EP  - 164
VL  - 5
IS  - 3
SN  - 2352-6386
UR  - https://doi.org/10.2991/jrnal.2018.5.3.4
DO  - 10.2991/jrnal.2018.5.3.4
ID  - Phunopas2018
ER  -