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VAM: hypocycloid mechanism for efficient bio-inspired robotic gaits

Research output: Contribution to journalArticle

Original languageEnglish
Pages (from-to)1055-1061
Number of pages7
JournalIEEE Robotics and Automation Letters
Volume2
Journal issue2
Early online date23 Jan 2017
DOIs
StateE-pub ahead of print - 23 Jan 2017

Abstract

We present VAMOS (Variable Amplitude Module Orthogonal Slider), a novel two-motor hexapedal robot that is able to walk and turn with arbitrary curvature. The VAMOS walking mechanism is based around a Variable Amplitude Module (VAM), a compact and modular gearbox that produces reciprocating sinusoidal output of continuously variable amplitude. The inputs to the VAM are a drive motor, rotating at a constant speed, and a single control input for changing the output amplitude. Unlike other methods for amplitude modulation, the VAM does not require modulation of the main drive input and we can therefore operate it at peak efficiency thoughout the gait cycle. As demonstrated by VAMOS, the VAM provides a versatile building block for biomimetic robotic gaits.

Research areas

  • Mechanism Design of Mobile Robots, Multilegged Robots, Hexapod, Gait Modulation, Biologically-Inspired Robots

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  • Full-text PDF (accepted author manuscript)

    Rights statement: This is the author accepted manuscript (AAM). The final published version (version of record) is available online via IEEE at http://ieeexplore.ieee.org/document/7829272/. Please refer to any applicable terms of use of the publisher.

    Accepted author manuscript, 1 MB, PDF-document

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