Title

Modeling and Gait Design of a 8-Tetrahedron Walker Robot

Authors

Miguel A. Abrahantes, Hope CollegeFollow
James Dratz
Cornelius Smits
Leif Nelson

Document Type

Conference Proceeding

Publication Date

2011

Publication Source

Models and Modeling Methodologies in Science and Engineering: MMMse 2011

First Page

241

Last Page

245

Publisher

International Institute of Informatics and Systemics

Comments

This work was partially supported by NASA, Grant Number NNX09AH69G and Michigan Space Grant Consortium.

This paper relates to the poster entitled "Design and Implementation of an 8-TET Robot" in the collection: 10th Annual Celebration for Undergraduate Research and Creative Performance (2011). Information for the poster may be found here: http://digitalcommons.hope.edu/curcp_10/134/

Abstract

This work describes the use of a simulating walking robot to model to design gaits for a tetrahedron (TET) walker robot. A TET robot has struts and nodes positioned in a way that it allows the robot to move by extending and contracting the struts. The Hope College Controls team has built a working 4-TET robot and has done extensive modeling and gait development on the 8-TET.

Keywords

Robot Model Design, Gaits, Tetrahedron, (TET)

Recommended Citation

Published in: Models and Modeling Methodologies in Science and Engineering: MMMse 2011, January 1, 2011, pages 241-245. Copyright © 2011 International Institute of Informatics and Systemics, Winter Garden, FL. The final published version is available at: http://www.iiis.org/CDs2011/CD2011IMC/MMMse_2011/PapersPdf/MB475FO.pdf