Center of mass displacements using rolling gaits for modular robots on the outside of pipes

@article{Paez2011CenterOM,
  title={Center of mass displacements using rolling gaits for modular robots on the outside of pipes},
  author={Laura Paez and Kamilo Melo and Carlos Andres Parra},
  journal={IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE},
  year={2011}
}
This paper addresses the problem of find modular robot's center of mass displacements when a rolling gait is executed on the outside of a pipe. Parametrization of the gait and a complete forward kinematic model was determined in order to find the center of mass position. The displacements the robot's center of mass during a gait will be used as a energy efficiency metric. A stability issue also will be studied, defining a stability margin for this specific gait. Travel in joint space of the… CONTINUE READING