Gait Design and Stable Control for a Symmetrical Four-legged Robot on Irregular Terrain

被引：0
|
作者：
Huai, Chuangfeng [1 ]
Fang, Yuefa [1 ]
Zhang, Ketao [1 ]
机构：
[1] Beijing Jiaotong Univ, Dept Mech & Elect Control Engn, Beijing, Peoples R China
来源：
2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23 | 2008年
关键词：
Structural symmetrical; Four-legged robot; Gait Design; Stable control; Virtual model;
D O I：
10.1109/WCICA.2008.4594082
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We Presents a method for designing free gaits for structural symmetrical four-legged robot capable of performing statically stable, omnidirectional walking on irregular terrain. Robot's virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. The deliberative-based controller can generate flexible sequences of leg transferences while maintaining walking speed, and choose optimums foothold for transfer leg based on integration data of exteroceptive terrain profile. Simulation results are presented to show the gait's efficiency and system's stability in adapting to an irregular terrain.
引用
收藏
页码：7460 / 7465
页数：6
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