Novel Optimization Based Approach to Design Walking Gaits for ReBiS Robot
ReBiS: Re-configurable Bipedal Snake Robot is a modular open chain mechanism of a snake robot that can walk in multiple configurations. ReBiS achieves re-configuration without any re-arrangements of its modules. This paper introduces a novel optimization based approach to design 9-DOF walking gaits for ReBiS robot which can be used for tasks that are difficult for snake robots to perform such as stair climbing or passing over high obstacles, etc. The generated walking gait moves the centre of mass only in its double support phase, making it more stable. Experimental verification by testing the gait on ReBiS Lite Robot showed that high speed walking gait is generated without obtaining the zero moment point and the same algorithm can be used to generate keyframes for HEAD LOOK gait.