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Exploration of adaptive gait patterns with a reconfigurable linkage mechanism

posted on 2023-06-09, 00:28 authored by Shunsuke Nansai, Nicolas Rojas, Mohan Rajesh Elara, Ricardo Sosa
Legged robots are able to move across irregular terrains and some can be energy efficient, but are often constrained by a limited range of gaits which can limit their locomotion capabilities considerably. This paper reports a reconfigurable design approach to robotic legged locomotion that produces a wide variety of gait cycles, opening new possibilities for innovative applications. In this paper, we present a distance-based formulation and its application to solve the position analysis problem of a standard Theo Jansen mechanism. By changing the configuration of a linkage, our objective in this study is to identify novel gait patterns of interest for a walking platform. The exemplary gait variations presented in this work demonstrate the feasibility of our approach, and considerably extend the capabilities of the original design to not only produce novel cum useful gait patterns but also to realize behaviors beyond locomotion.


Publication status

  • Published

Page range


Presentation Type

  • paper

Event name

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Event location


Event type


Event date

3 to 7 Nov 2013

Book title

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

Department affiliated with

  • Engineering and Design Publications

Full text available

  • No

Peer reviewed?

  • Yes

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