Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization
نویسندگان
چکیده
منابع مشابه
Gait and foot trajectory planning for versatile motions of a six-legged robot
This paper deals with the problem of planning and controlling a radially symmetric sixlegged walker on an uneven terrain when a smooth time-varying body motion is required. The main difficulties lie on the planning of gaits and foot trajectories. As for the gaits, this paper discusses the forward wave gait of a variable duty factor and a variable wave direction. With the commanded body motion, ...
متن کاملA novel iteration-based controller for hybrid machine systems for trajectory tracking at the end-effector level
†College of Mechanical and Power Engineering, East China University of Sciences and Technology, Meilong Road 130, Shanghai 200237, P.R. China ‡Department of Engineering Machinery, Shandong Jiaotong University, 5 Jiaoxiao Road, Jinan, Shandong 250023, P.R. China §School of Mechanical Engineering, Shandong University, 73 Jingshi Road, Jinan 250061, P.R. China ¶Department of Airspace Engineering, ...
متن کاملGait Generation For Legged Robots
Gait generation is the formulation and selection of a sequence of coordinated leg and body motions that propel a legged robot along a desired path. Approaches to gait generation can be classified into control, behavioral, rule-based, and constraintbased paradigms. We survey these models of gait generation and introduce the Ambler, a hexapod robot that can circulate its legs to produce unique ga...
متن کاملGait Controllability for Legged Robots
We present a general method for determining controllability of a class of kinematic legged robots. The method is general in that it is independent of the robot’s morphology; in particular, it does not depend upon the number of legs. Our method is based on an extension of a nonlinear controllability test for smooth systems to the legged case, where the relevant mechanics are not smooth. Our exte...
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We present a search-based method for the generation of a terrainadaptive optimal gait of a six-legged walking machine. In this, several heuristic rules have been proposed to reduce the search effort. We identify the useful support states of the machine and form a table to indicate for each of these states the list of other states to which a transition can be made. This helps in converging to an...
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ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2018
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2018.2798285