Hierarchically Planning Static Gait for Quadruped Robot Walking on Rough Terrain
نویسندگان
چکیده
منابع مشابه
A Composite COG Trajectory Planning Method for the Quadruped Robot Walking on Rough Terrain
The COG trajectory planning method is the primary concern in the gait planning for quadruped robot, especially when the quadruped robot travelling on rough terrain. In this paper, we focus on the scenario where the quadruped robot walking on the rough terrain with the static walking gait. We present a smooth COG trajectory generator that the COG smooth trajectory characterized by continuous vel...
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quadruped robots have unique capabilities for motion over uneven natural environments. this article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. first, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-dof quadruped robot. thereafter, an inverse-dynamics...
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ژورنال
عنوان ژورنال: Journal of Robotics
سال: 2019
ISSN: 1687-9600,1687-9619
DOI: 10.1155/2019/3153195