7 Conclusion and future Locomotion Capabilities of a 6 Locomotion areas

6 Experiments

All the locomotion capabilities have been successfully implemented and tested on a real robot. Using the 1D sinusoidal gait, the robot is capable of going through a narrow pipe (Fig. ). Also, it can traverse a curved tube by means of the turning gait (Fig. ).

Figure: An example of 1D Sinusoidal gait. The robot can go through a tube.

Figure: An example of the turning gait. The robot is going through a curved tube

The robot can move parallel to its body axis using the lateral shift gait (Fig. ) and also can rotate to change its orientation in the plane (Fig. ). Both gaits have a little error. When performing lateral shift, the body of the robot also experiment a small rotation. It is not moving perfectly parallel to its body axis. Also, when performing rotation, it has a small displacement. Both effects can be corrected by mixing these two gaits. If the robot has to move a long distance parallel to its body axis, after some time, a rotating gait can be perform to correct the error on the body orientation.

Figure: Experiments on lateral shift gaits. The robot moves parallel to its body axis.

Figure: Rotating gait. The robot can change its body orientation in the plane.

Finally, the experiments on the rolling gaits are shown in Fig.. The robot moves very smoothly. If an amplitude of 90 is used (Av=90, Ah=90 ) the robot has the shape of a square and no global displacement is achieve. The four sides roll inside or outside the square at the same time.

Figure: Experiments of the rolling gait

7 Conclusion and future Locomotion Capabilities of a 6 Locomotion areas