Departmental Papers (ESE)

Gait Generation and Control in a Climbing Hexapod Robot

A. A. Rizzi, Carnegie Mellon University
G. C. Haynes, Carnegie Mellon University
R. J. Full, University of California - Berkeley
D. E. Koditschek, University of Pennsylvania

Document Type Conference Paper

BibTeX entry

@inproceedings{author-conference-2009, author = {A. A. Rizzi and [[gch.Home|G. C. Haynes]] et al}, title = {The Title of the Paper to be Published on Website}, booktitle = {Gait Generation and Control in a Climbing Hexapod Robot}, year = {2006}, volume = {volume 6230} pages = {623018} address = {Address, State, Country}, month = {June}, }


We discuss the gait generation and control architecture of a bioinspired climbing robot that presently climbs a variety of vertical surfaces, including carpet, cork and a growing range of stucco-like surfaces in the quasi-static regime. The initial version of the robot utilizes a collection of gaits (cyclic feed-forward motion patterns) to locomote over these surfaces, with each gait tuned for a specific surface and set of operating conditions. The need for more flexibility in gait specification (e.g., adjusting number of feet on the ground), more intricate shaping of workspace motions e.g., shaping the details of the foot attachment and detachment trajectories), and the need to encode gait “transitions” (e.g., tripod to pentapod gait structure) has led us to separate this trajectory generation scheme into the functional composition of a phase assigning transformation of the “clock space” (the six dimensional torus) followed by a map from phase into leg joints that decouples the eometric details of a particular gait. This decomposition also supports the introduction of sensory feedback to allow recovery from unexpected event and to adapt to changing surface geometries.

This work is supported in part by the Defense Advanced Research Projects Agency within the DSO Biodynotics Program under contracts DARPA/SPAWAR N66001–03-C-8045 and DARPA/SPAWAR N66001–05-C-8025.

For more information:


Date Posted: 28 October 2013

This document has been peer reviewed.