Robot locomotion

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Robot locomotion is the study of how to design robot appendages and control mechanisms to allow robots to move fluidly and efficiently. Although wheeled robots are typically quite energy efficient and simple to control, other forms of locomotion may be more appropriate for a number of reasons (e.g. traversing rough terrain, moving and interacting in human environments). Furthermore, studying biped and insect-like robots may impact biomechanics.

A major goal in this field is in developing capabilities for robots to autonomously decide how, when, and where to move. However, coordinating a large number of robot joints for even simple matters, like negotiating stairs, is difficult. Autonomous robot locomotion is a major technological obstacle for many areas of robotics, such as humanoids (like Honda's Asimo).

Contents 1 Types of Locomotion 1.1 Walking 1.1.1 Bipedal Walking 1.2 Running 1.3 Rolling 1.4 Hopping 1.5 Snaking 1.6 Brachiating 2 Approaches 3 List of Robots 4 List of Researchers

[edit] Types of Locomotion

[edit] Walking

• See Hexapod (robotics)
• Boston Dynamics

[edit] Bipedal Walking

• Passive dynamics
• Zero Moment Point

[edit] Running

• "Running on rough terrain"

[edit] Rolling

[edit] Hopping

"Running on rough terrain"

[edit] Snaking

[edit] Brachiating

• See Brachiation

[edit] Approaches

• Gait engineering
• Optimization
• Motion planning
• Motion capture may be performed on humans, insects and other organisms.
• Machine learning, typically with reinforcement learning.

[edit] List of Robots

• Honda's ASIMO - A walking and running biped.
• Boston Dynamics' BigDog - A quadruped that can run on rough terrain.
• JPL's ATHLETE (All-Terrain Hex-Legged Extra-Terrestrial Explorer) - a six-legged robot with wheels on its legs, allowing it to walk and roll.
• Salamandra Robotica - A salamander robot that can both walk and swim.

[edit] List of Researchers

• Rodney Brooks
• Marc Raibert
• Jessica Hodgins
• Auke Jan Ijspeert