Trajectory Planning and Four-Leg Coordination for Stair Climbing in a Quadruped Robot

被引：9

作者：

Ko, Chih-Chung ^{[1
]}

Chen, Shen-Chiang ^{[1
]}

Li, Cheng-Hsin ^{[1
]}

Lin, Pei-Chun ^{[1
]}

机构：

[1] Natl Taiwan Univ, Dept Mech Engn, Taipei 10764, Taiwan

来源：

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) | 2010年

关键词：

WALKING;

D O I：

10.1109/IROS.2010.5650176

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We report on the algorithm of trajectory planning and four leg coordination for quasi-static stair climbing in a quadruped robot. The development is based on the geometrical interactions between the robot legs and the stair, starting from single-leg analysis, followed by two-leg collaboration, and then four-leg coordination. In addition, a brief study on stability of the robot is also reported. Finally, simulation and experimental test are also executed to evaluate the performance of the algorithm.

引用

页码：5335 / 5340

页数：6

共 50 条

[1] Trajectory Planning for Stair Climbing in the Leg-wheel Hybrid Mobile Robot Quattroped
Chen, Shen-Chiang
Huang, Ke Jung
Li, Cheng-Hsin
Lin, Pei-Chun
[J]. 2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2011, : 1229 - 1234
[2] Stair-climbing and Energy Consumption Evaluation of a Leg-tracked Quadruped Robot
Wang, Jie
Ramirez-Serrano, Alex
[J]. 2016 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2016, : 1448 - 1453
[3] Loper: A quadruped-hybrid stair climbing robot
Herbert, Sam D.
Drenner, Andrew
Papanikolopoulos, Nikolaos
[J]. 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9, 2008, : 799 - 804
[4] Kinematic analysis and foot end trajectory planning of quadruped wall-climbing robot based on parallel leg structure
Zhang, Tie
Yuan, Zekun
Hong, Guozhao
Cai, Di
[J]. JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING, 2023, 45 (07)
[5] Kinematic analysis and foot end trajectory planning of quadruped wall-climbing robot based on parallel leg structure
Tie Zhang
Zekun Yuan
Guozhao Hong
Di Cai
[J]. Journal of the Brazilian Society of Mechanical Sciences and Engineering, 2023, 45
[6] A QUADRUPED ROBOT WITH ON-BOARDING SENSING AND PARAMETERIZED GAIT FOR STAIR CLIMBING
Brewer, T.
Kaipa, K. N.
Gupta, S. K.
[J]. ADAPTIVE MOBILE ROBOTICS, 2012, : 375 - 382
[7] A Bio-Inspired Implementation of Walking and Stair Climbing on a Quadruped Robot
Sarmah, Anurag Narayan
Boruah, Abhijit
Kalita, Daisy
Neog, Darshana
Paul, Saumay
[J]. 8TH INTERNATIONAL CONFERENCE ON ADVANCES IN COMPUTING & COMMUNICATIONS (ICACC-2018), 2018, 143 : 671 - 677
[8] Quadruped Robot Gait Planning with Stair Environment Constraints
Wang Zhanhao
Huang Dan
Li Ning
Li Shaoyuan
[J]. 2014 33RD CHINESE CONTROL CONFERENCE (CCC), 2014, : 8583 - 8588
[9] Statically balanced stair climbing gait research for a hybrid quadruped robot
Huang, Bo
Sun, Lining
Luo, Yufeng
[J]. 2005 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATIONS, VOLS 1-4, CONFERENCE PROCEEDINGS, 2005, : 2067 - 2071
[10] Single-Leg Structural Design and Foot Trajectory Planning for a Novel Bioinspired Quadruped Robot
Chen, Mingfang
Li, Qi
Wang, Sen
Zhang, Kaixiang
Chen, Hao
Zhang, Yongxia
[J]. COMPLEXITY, 2021, 2021

← 1 2 3 4 5 →