Optimal gaits generation of a 4-legged walking robot

被引：0

作者：

Alasty, A ^{[1
]}

Borujeni, BS ^{[1
]}

机构：

[1] Sharif Univ Technol, Dept Mech Engn, Tehran, Iran

来源：

CCA 2003: PROCEEDINGS OF 2003 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 AND 2 | 2003年

关键词：

walking robot; turning gaits; transverse gaits; simulated annealing; gradient based;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A novel Locomotion and gait planning method for a surface walking/climbing robot based on sequential 4-bar mechanism motions is presented. The robot moves on a surface through decoupled transverse gaits and turning gaits with desired length and angle. For implementation of turning gaits three methods of Simulated Annealing Accurate Planning (SAAP), Gradient Based Planning (GRP) and Hybrid Accurate Planning (HAP) are studied. Where the last method was found the most effective approach.

引用

页码：664 / 668

页数：5

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