Gait planning and intelligent control for a quadruped robot

被引：0
|
作者：
Baoping WANG 1
2.Department of Basic Courses
3.School of Mechanical and Electronic Control Engineering
机构：
来源：
Control Theory and Technology | 2009年 / 7卷 / 02期
关键词：
Structural symmetry; Quadruped robot; Gait planning; Intelligent control; Virtual model;
D O I：
暂无
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
摘要：
We present a method for designing free gaits for a structurally symmetrical quadruped robot capable of performing statically stable,omnidirectional walking on irregular terrain.The 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 fiexible sequences of leg transferences while maintaining walking speed,and choose optimum foothold for moving 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 uncertain terrain.
引用
收藏
页码：207 / 211
页数：5
相关论文
共 50 条
  • [1] Gait planning and intelligent control for a quadruped robot
    Wang B.
    Hu R.
    Zhang X.
    Huai C.
    [J]. Journal of Control Theory and Applications, 2009, 7 (2): : 207 - 211
  • [2] Gait Planning and Stability Control of a Quadruped Robot
    Li, Junmin
    Wang, Jinge
    Yang, Simon X.
    Zhou, Kedong
    Tang, Huijuan
    [J]. COMPUTATIONAL INTELLIGENCE AND NEUROSCIENCE, 2016, 2016
  • [3] Gait planning and control of quadruped crawling robot on a slope
    Wang, Peng
    Song, Chunxiao
    Li, Xiaoqiang
    Luo, Peng
    [J]. INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2020, 47 (01): : 12 - 22
  • [4] Reliable gait planning and control for miniaturized quadruped robot pet
    Yi, Sooyeong
    [J]. MECHATRONICS, 2010, 20 (04) : 485 - 495
  • [5] Gait planning for quadruped robot with parallel spine
    Li Z.-W.
    Wang B.-R.
    Chen D.-J.
    [J]. Chen, Di-Jian (djchen@cjlu.edu.cn), 2018, Zhejiang University (52): : 1267 - 1274
  • [6] Reliable Gait Planning for a Quadruped Walking Robot
    Huai Chuangfeng
    Liu Pingan
    [J]. 2010 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-5, 2010, : 1783 - 1787
  • [7] Gait planning based on bionic quadruped robot
    Liu, Zhao
    Huang, Zhe
    Cui, Yuanhui
    [J]. ENGINEERING RESEARCH EXPRESS, 2024, 6 (03):
  • [8] Dynamics and Stable Gait Planning of a Quadruped Robot
    Zamani, Ali
    Khorram, Mahdi
    Moosavian, S. Ali A.
    [J]. 2011 11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS), 2011, : 25 - 30
  • [9] Temporal gait control of a quadruped robot
    Brown, CC
    Huissoon, JP
    [J]. ROBOTICS AND AUTONOMOUS SYSTEMS, 2000, 30 (04) : 305 - 314
  • [10] A Smooth Gait Planning Framework for Quadruped Robot Based on Virtual Model Control
    Tian, Jian
    Ma, Chao
    Wei, Cheng
    Zhao, Yang
    [J]. INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2019, PT IV, 2019, 11743 : 398 - 410
12345