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JRM Vol.35 No.3 pp. 661-668
doi: 10.20965/jrm.2023.p0661
(2023)

Paper:

Gait Analysis and Improvement of Hexapod Mobile Robot Using Tetrahedral-Shaped Pneumatic Soft Actuators

Feifei Cho*, Kenta Hase**, Tetsuya Akagi*, Shujiro Dohta*, Takashi Shinohara*, and Masashi Yokota*

*Okayama University of Science
1-1 Ridai-cho, Kita-ku, Okayama 700-0005, Japan

**Graduate School of Engineering, Okayama University of Science
1-1 Ridai-cho, Kita-ku, Okayama 700-0005, Japan

Received:
December 9, 2022
Accepted:
March 22, 2023
Published:
June 20, 2023
Keywords:
hexapod mobile robot, gait analysis, stability margin, tetrahedral-shaped pneumatic soft actuator
Abstract

In recent years, the aging of society has led to challenges such as ensuring adequate facility capacity and promoting health maintenance for the elderly. Consequently, there has been a growing demand for rehabilitation and fitness equipment suitable for use in limited spaces such as homes. In a previous study, a hexapod mobile robot, equipped with six tetrahedral-shaped pneumatic soft actuators (TSAs), was developed as a core training device to address these issues. However, the robot’s gait was investigated experimentally via a trial-and-error process. Hence, it is necessary to examine the stability of the gait. In this study, a straightforward model is presented for gait analysis of the mobile robot. Furthermore, the stability of the gait is demonstrated based on the analysis, and a more efficient gait with a sufficient stability margin is introduced.

Simplified model of the mobile robot used for gait analysis

Simplified model of the mobile robot used for gait analysis

Cite this article as:
F. Cho, K. Hase, T. Akagi, S. Dohta, T. Shinohara, and M. Yokota, “Gait Analysis and Improvement of Hexapod Mobile Robot Using Tetrahedral-Shaped Pneumatic Soft Actuators,” J. Robot. Mechatron., Vol.35 No.3, pp. 661-668, 2023.
Data files:
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Last updated on Jul. 12, 2024