Locomotive gait generation for inchworm-like robots using finite state approach

The gait of a multi-segment inchworm robot is a series of actuator actions that will change the shape of the robot to generate a net motion. In this p aper, we model the multisegment inchworm robot as a finite state automaton. Gait generation is posed as a search problem on the graph described by the automaton with prescribed state transitions. The state transitions are def ined based on the kinematics of robot locomotion. The auxiliary actuator co ncept is introduced. Single-stride and multi-stride gait generations are di scussed. Single-stride gaits exhibit fault-tolerant and real-time computati on features that are necessary in actual applications. Both computer simula tion and experimental hardware platform are developed for various aspects o f gait generation and planning.