Time optimal positioning control of a quadruped robot for trot gait
نویسندگان
چکیده
منابع مشابه
Trot Gait Locomotion of a Cat Sized Quadruped Robot
[5] Ludovic Righetti and Auke Jan Ijspeert. Quadruped locomotion: from infants crawling to the design of pattern generators for quadruped robots. In AMAM 2008 abstracts, pages 90–91, 2008. Acknowledgments The research leading to these results has received funding from the European Communitys Seventh Framework Programme FP7/2007-2013-Challenge 2-Cognitive Systems, Interaction, Robotics-under gra...
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We present the design of a novel compliant quadruped robot: Cheetahcub, and a series of locomotion experiments with fast trotting gaits. The robot’s leg configuration is based on a spring-loaded, pantograph mechanism with multiple segments. A dedicated open loop locomotion controller was derived and implemented. Experiments were run in simulation and in hardware on flat terrain and with a step-...
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Legged vehicles offer several advantages over wheeled vehicles, particularly over broken terrain, but are presently too slow to be advantageous for many tasks. Trotting, the precursor to galloping for many quadrupeds, employs high-speed actuation to coordinate the intermittent ground contacts for each leg. Compliant elements and high-power actuators combine to perform a complex interchange of p...
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In this paper, optimal cyclic reference trajectories are designed for three gaits of a quadruped robot, the curvet, the amble, and the trot, taking into account the actuators characteristics. The gaits are composed of stance phases and instantaneous double supports. The principle of virtual leg is used to obtain simpler dynamic model describing the motion of the quadruped. The impact phases are...
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ژورنال
عنوان ژورنال: Transactions of the JSME (in Japanese)
سال: 2017
ISSN: 2187-9761
DOI: 10.1299/transjsme.17-00017