Pierre Larochelle

Metrics, which facilitate the measurement of parameters such as “distance” and “length” are used frequently in rigid body guidance problems. Commonly used metrics have a characteristic of being dependent on the choice of fixed or moving reference frame and the units used. Most motion synthesis algorithms require some notion of the “distance” between two desired locations. The metrics in Euclidean space depend on the coordinate frame and units used. A metric independent of these choices is desirable. In this paper we present a metric which is independent of the choice of fixed coordinate frame.

This article describes the design and the development of a novel six-legged robotic walking machine named SphereWalker. The six legs are arranged into pairs, and each pair of legs is supported and actuated by a single spherical four-bar mechanism. Two of the four-bar mechanisms are operated in a synchronous fashion, while the middle one is operated at 180 deg out of phase with respect to the other two. A physical prototype has been built, a digital twin has been generated, an actuation and control system has been designed, and the technology has been patented.