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
相关论文
共 50 条
  • [21] Control system design for four-legged walking robot with insect type leg using ROS
    Kalburgi, Virbhadrappa
    James, P. M.
    Sreedharan, Pramod
    MATERIALS TODAY-PROCEEDINGS, 2021, 46 : 5092 - 5097
  • [22] AIMEE:: A four-legged robot for RoboCup Rescue
    Albrecht, Martin
    Backhaus, Till
    Planthaber, Steffen
    Stoepler, Henning
    Spenneberg, Dirk
    Kirchner, Frank
    CLIMBING AND WALKING ROBOTS, 2006, : 1003 - 1010
  • [23] Landing control method of a lightweight four-legged landing and walking robot
    YIN Ke
    QI Chenkun
    GAO Yue
    SUN Qiao
    GAO Feng
    Frontiers of Mechanical Engineering, 2022, 17 (04)
  • [24] Landing control method of a lightweight four-legged landing and walking robot
    Ke Yin
    Chenkun Qi
    Yue Gao
    Qiao Sun
    Feng Gao
    Frontiers of Mechanical Engineering, 2022, 17
  • [25] Four-Legged Walking Robot, Steering and Turning Using Phase Control
    Maizel, Tomer
    Bucher, Izhak
    Baruch, Eyal
    Vered, Yoav
    Plat, Harel
    ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS, RAAD 2022, 2022, 120 : 528 - 535
  • [26] On the design of a four-legged walking machine
    Cordes, S
    Berns, K
    Eberl, M
    Ilg, W
    Buhrle, P
    8TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, 1997 PROCEEDINGS - ICAR'97, 1997, : 65 - 70
  • [27] Landing control method of a lightweight four-legged landing and walking robot
    Yin, Ke
    Qi, Chenkun
    Gao, Yue
    Sun, Qiao
    Gao, Feng
    FRONTIERS OF MECHANICAL ENGINEERING, 2022, 17 (04)
  • [28] Four-legged robot can heal if wounded
    Padavic-Callaghan, Karmela
    NEW SCIENTIST, 2022, 245 (3417) : 17 - 17
  • [29] A Four-Legged Social Robot Based on a Smartphone
    Diano, David A.
    Claveau, David
    ROBOT INTELLIGENCE TECHNOLOGY ANDAPPLICATIONS 3, 2015, 345 : 117 - 126
  • [30] Four-Legged Gait Control via the Fusion of Computer Vision and Reinforcement Learning
    Dassori, Ignacio
    Adams, Martin
    Vasquez, Jorge
    2024 27TH INTERNATIONAL CONFERENCE ON INFORMATION FUSION, FUSION 2024, 2024,
12345