Locomotion Planning for Quadruped Robot Over Rough Terrain

被引：0

作者：

Wang, Zhongyuan ^{[1
]}

Sun, Caiming ^{[1
]}

Deng, Ganyu ^{[1
]}

Zhang, Aidong ^{[1
]}

机构：

[1] Chinese Univ Hong Kong, IRIM, Shenzhen, Peoples R China

来源：

2017 CHINESE AUTOMATION CONGRESS (CAC) | 2017年

基金：

中国国家自然科学基金;

关键词：

locomotion planning; body trajectory; zero moment point; linear inverted pendulum model;

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：

In this paper, we present a general quadruped locomotion planning method for traversing unstructured terrain. Novel features of our method include the procedure that a body trajectory optimizer based on the Zero Moment Point (ZMP) stability criterion and Linear Inverted Pendulum Model (LIPM). The ZMP trajectory optimizer can be applied to any legged robot which can be approximated by the LIPM model. The main benefits of the framework that we used are that it is highly modular, that it allows the various parameters to be tuned in an intuitive way, and that it results in few center of gravity (COG) fluctuation.

引用

页码：3170 / 3173

页数：4

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