Implementation of omnidirectional crawl for a quadruped robot

被引：22

作者：

Chen, XD

Watanabe, K

Kiguchi, K

Izumi, K

机构：

[1] Saga Univ, Grad Sch Sci & Engn, Dept Adv Syst Control Engn, Saga 8408502, Japan

[2] Saga Univ, Grad Sch Sci & Engn, Fac Engn Syst & Technol, Saga 8408502, Japan

[3] Saga Univ, Fac Sci & Engn, Dept Mech Engn, Saga 8408502, Japan

来源：

ADVANCED ROBOTICS | 2001年 / 15卷 / 02期

关键词：

quadruped robot; omnidirectional crawl; gait generation; gait control; straight-going gait; standstill-turning gait;

D O I：

10.1163/15685530152116218

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：169 / 190

页数：22

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