Implementation of omnidirectional crawl for a quadruped robot

X. Chen, K. Watanabe, K. Kiguchi, K. Izumi

研究成果: Contribution to journalArticle査読

18 被引用数 (Scopus)

抄録

As a reptile animal crawls in a cluttered environment, so a quadruped robot should be able to crawl on an irregular ground profile with its static stability by adopting the straight-going and standstill-turning free gaits. The generalized and explicit formulations for the automatic generation of straight-going gaits and various standstill-turning gaits are presented in this paper. The maximized stride for the straight-going gait and the maximum turning angle for the turning gait of a quadruped robot named TITAN-VIII in a gait cycle are discussed by considering the robot's mechanism constraints and the irregularities of the ground profile. The control algorithm, including control of the joint positions of the robot, is described to implement the desired walking path of the quadruped robot. The effectiveness of the proposed method is demonstrated through experimental result.

本文言語英語
ページ(範囲)169-190
ページ数22
ジャーナルAdvanced Robotics
15
2
DOI
出版ステータス出版済み - 2001
外部発表はい

All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人間とコンピュータの相互作用
  • ハードウェアとアーキテクチャ
  • コンピュータ サイエンスの応用

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