Gait planning for quadruped robot based on dynamic stability: landing accordance ratio

被引：11
|
作者：
Won, Minkyu [1 ]
Kang, Tae Hun [2 ]
Chung, Wan Kyun [1 ]
机构：
[1] Pohang Univ Sci & Technol POSTECH, Robot Lab, Pohang, South Korea
[2] Pohang Inst Intelligent Robot, Pohang, South Korea
来源：
INTELLIGENT SERVICE ROBOTICS | 2009年 / 2卷 / 02期
关键词：
Gait planning; Dynamic stability; Quadruped robot;
D O I：
10.1007/s11370-009-0038-7
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this article, the method for increasing dynamic stability of quadruped robot is proposed. Previous researches on dynamic walking of quadruped robots have used only walking pattern called central pattern generator (CPG). In this research, different from walking generation with only CPG, a instinctive stability measure called landing accordance ratio, is proposed and used for increasing dynamic stability. In addition, dynamic balance control and control to adjust walking trajectory for increasing dynamic stability measure is also proposed. Proposed methods are verified with dynamic simulation and a large number of experiments with quadruped robot platform.
引用
收藏
页码：105 / 112
页数：8
相关论文
共 50 条
  • [1] Gait planning for quadruped robot based on dynamic stability: landing accordance ratio
    Minkyu Won
    Tae Hun Kang
    Wan Kyun Chung
    [J]. Intelligent Service Robotics, 2009, 2 : 105 - 112
  • [2] Trajectory Planning and Gait Analysis for the Dynamic Stability of a Quadruped Robot
    Maradkar, Mayuresh S.
    Manivannan, P., V
    [J]. SMART INNOVATIONS IN COMMUNICATION AND COMPUTATIONAL SCIENCES, VOL 2, 2019, 670 : 259 - 271
  • [3] 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
  • [4] Implementation and dynamic gait planning of a quadruped bionic robot
    Song Yong
    Chen Teng
    Hao Yanzhe
    Wang Xiaoli
    [J]. International Journal of Control, Automation and Systems, 2017, 15 : 2819 - 2828
  • [5] Implementation and dynamic gait planning of a quadruped bionic robot
    Song Yong
    Chen Teng
    Hao Yanzhe
    Wang Xiaoli
    [J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2017, 15 (06) : 2819 - 2828
  • [6] Gait planning based on bionic quadruped robot
    Liu, Zhao
    Huang, Zhe
    Cui, Yuanhui
    [J]. ENGINEERING RESEARCH EXPRESS, 2024, 6 (03):
  • [7] STABILITY ANALYSIS AND GAIT PLANNING OF A QUADRUPED ROBOT BASED ON THE ECCENTRIC PADDLE MECHANISM
    Zhao, Jinglei
    Pu, Huayan
    Sun, Yi
    Ma, Shugen
    Shen, Yayi
    Luo, Jun
    Gong, Zhenbang
    [J]. CONTROL AND INTELLIGENT SYSTEMS, 2014, 42 (04) : 311 - 317
  • [8] Quadruped Robot Crawl Gait Planning Based on DST
    Chen Binbin
    Li Shaoyuan
    Huang Dan
    [J]. 2014 33RD CHINESE CONTROL CONFERENCE (CCC), 2014, : 8578 - 8582
  • [9] Dynamic instant gait stability measure for quadruped walking robot
    Koo, TW
    Yoon, YS
    [J]. ROBOTICA, 1999, 17 : 59 - 70
  • [10] Dynamic stability of quadruped robot walking on slope with trot gait
    雷静桃
    Ren Mingming
    [J]. High Technology Letters, 2016, 22 (01) : 1 - 9
12345