Quadruped Robot Gait Planning with Stair Environment Constraints

被引：0
|
作者：
Wang Zhanhao [1 ,2 ]
Huang Dan [3 ]
Li Ning [1 ,2 ]
Li Shaoyuan [1 ,2 ]
机构：
[1] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China
[2] Minist Educ, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China
[3] Shanghai Jiao Tong Univ, Sch Aeronaut & Astronaut, Shanghai 200240, Peoples R China
来源：
2014 33RD CHINESE CONTROL CONFERENCE (CCC) | 2014年
关键词：
Quadruped Robot; Stair Environment Constraints; Stair-Aimed-SSG;
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：
This paper is mainly about quadruped robot gait planning with stair environment constraints, where the environment constraints are mainly embodied in the form of robot gait planning constraints and robot stair traversing feasibility, etc., and the problem of quadruped robot gait planning can be solved theoretically with Stair-Aimed-SSG (Static Stable Gait). The feasibility of this scheme is proved by Matlab and RecurDyn simulation.
引用
收藏
页码：8583 / 8588
页数：6
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