Robot Locomotion
There are various types of locomotions:
Legged
Wheeled
Combination of Legged and Wheeled Locomotion
Tracked slip/skid Legged Locomotion
This type of locomotion consumes more power while demonstrating walk, jump, trot, hop, climb up or down, etc.
It requires more number of motors to accomplish a movement. It is suited for rough as well as smooth terrain where irregular or too smooth surface makes it consume more power for a wheeled locomotion. It is little difficult to implement because of stability issues.
It comes with the variety of one, two, four, and six legs.
If a robot has multiple legs then leg coordination is necessary for locomotion.
The total number of possible gaits (a periodic sequence of lift and release events for each of the total legs) a robot can travel depends upon the number of its legs. If a robot has k legs, then the number of possible events N = (2k-1)!. In case of a two-legged robot (k=2), the number of possible events is N = (2k-1)! = (2*2-1)! = 3! = 6. Hence there are six possible different events:
1. Lifting the Left leg
2. Releasing the Left leg
3. Lifting the Right leg
4. Releasing the Right leg
5. Lifting both the legs together
6. Releasing both the legs together.
In case of k=6 legs, there are 39916800 possible events.
Hence the complexity of robots is directly propo
rtional to the number of legs.
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