Real-time kinematics on the translational crawl motion of a quadruped robot

Xuedong Chen, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi

Research output: Contribution to journalArticle

19 Citations (Scopus)

Abstract

It is known that the kinematics of a quadruped robot is complex due to its topology and the redundant actuation in the robot. However, it is fundamental to compute the inverse and direct kinematics for the sophisticated control of the robot in real-time. In this paper, the translational crawl gait of a quadruped robot is introduced and the approach to find the solution of the kinematics for such a crawl motion is proposed. Since the resulting kinematics is simplified, the formulation can be used for the real-time control of the robot. The results of simulation and experiment shows that the present method is feasible and efficient.

Original languageEnglish
Pages (from-to)111-131
Number of pages21
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Volume29
Issue number2
DOIs
Publication statusPublished - Oct 2000
Externally publishedYes

Fingerprint

Kinematics
Robots
Real time control
Topology
Experiments

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Real-time kinematics on the translational crawl motion of a quadruped robot. / Chen, Xuedong; Watanabe, Keigo; Kiguchi, Kazuo; Izumi, Kiyotaka.

In: Journal of Intelligent and Robotic Systems: Theory and Applications, Vol. 29, No. 2, 10.2000, p. 111-131.

Research output: Contribution to journalArticle

@article{03af661060554262a83d4cfa40214728,
title = "Real-time kinematics on the translational crawl motion of a quadruped robot",
abstract = "It is known that the kinematics of a quadruped robot is complex due to its topology and the redundant actuation in the robot. However, it is fundamental to compute the inverse and direct kinematics for the sophisticated control of the robot in real-time. In this paper, the translational crawl gait of a quadruped robot is introduced and the approach to find the solution of the kinematics for such a crawl motion is proposed. Since the resulting kinematics is simplified, the formulation can be used for the real-time control of the robot. The results of simulation and experiment shows that the present method is feasible and efficient.",
author = "Xuedong Chen and Keigo Watanabe and Kazuo Kiguchi and Kiyotaka Izumi",
year = "2000",
month = "10",
doi = "10.1023/A:1008186026952",
language = "English",
volume = "29",
pages = "111--131",
journal = "Journal of Intelligent and Robotic Systems: Theory and Applications",
issn = "0921-0296",
publisher = "Springer Netherlands",
number = "2",

}

TY - JOUR

T1 - Real-time kinematics on the translational crawl motion of a quadruped robot

AU - Chen, Xuedong

AU - Watanabe, Keigo

AU - Kiguchi, Kazuo

AU - Izumi, Kiyotaka

PY - 2000/10

Y1 - 2000/10

N2 - It is known that the kinematics of a quadruped robot is complex due to its topology and the redundant actuation in the robot. However, it is fundamental to compute the inverse and direct kinematics for the sophisticated control of the robot in real-time. In this paper, the translational crawl gait of a quadruped robot is introduced and the approach to find the solution of the kinematics for such a crawl motion is proposed. Since the resulting kinematics is simplified, the formulation can be used for the real-time control of the robot. The results of simulation and experiment shows that the present method is feasible and efficient.

AB - It is known that the kinematics of a quadruped robot is complex due to its topology and the redundant actuation in the robot. However, it is fundamental to compute the inverse and direct kinematics for the sophisticated control of the robot in real-time. In this paper, the translational crawl gait of a quadruped robot is introduced and the approach to find the solution of the kinematics for such a crawl motion is proposed. Since the resulting kinematics is simplified, the formulation can be used for the real-time control of the robot. The results of simulation and experiment shows that the present method is feasible and efficient.

UR - http://www.scopus.com/inward/record.url?scp=0034299799&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0034299799&partnerID=8YFLogxK

U2 - 10.1023/A:1008186026952

DO - 10.1023/A:1008186026952

M3 - Article

AN - SCOPUS:0034299799

VL - 29

SP - 111

EP - 131

JO - Journal of Intelligent and Robotic Systems: Theory and Applications

JF - Journal of Intelligent and Robotic Systems: Theory and Applications

SN - 0921-0296

IS - 2

ER -