Bio-mimetic walking with distributed controlled
wave gait
MIYAHARA;Keizo;;;;;;;
【期刊名称】《中国科学》 【年(卷),期】2010(000)011
【摘要】This paper describes a multi-agent mobile system that walks. In particular, the gate of the system can be considered as an expansion of the ordinary wave gate, since the class of system configuration is not restricted in a line shape. The system consists of a number of identical units with distributed controllers. The homogeneous units are mechanically connected to construct a mobile platform. Every unit has its local controller that communicates only with its adjacent units. This basic configuration of supervisor-less structure affirmatively confines the dependence of each unit to a local area, and therefore any unit can be removed from/add into any part of a system regardless of the timing without disturbing the performance of the whole system. This flexibility of configuration significantly contributes to easy maintenance of units, such as battery charging or hot-replacing for faulty units. Utilizing the flexibility as well, the system is capable of adapting to a variety of tasks including transportation application and to target objects having various kinds of shape and/or a wide range of mass. A proposed example unit contains a Gough-Stewart Platform, a symmetrical type of
Bio-mimetic walking with distributed controlled wave gait
