All-directional Walking of a Quadruped Robot based on Crawl and Rotation Gaits.
نویسندگان
چکیده
منابع مشابه
Stability Analysis of Gaits of Quadruped Walking Robot MERO
Gaits study is a fundamental part of legged vehicle research. Legged locomotion has been used by biological systems for hundreds of millions of years In contrast, wheeled locomotion vehicles have only a history of several thousand years. Wheeled vehicles are so familiar and ubiquitours in our modern way of life, and have been developed to such level of sophistication. But, approximately half of...
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Quadruped robots have unique capabilities for motion over uneven natural environments. This article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. First, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-DOF quadruped robot. Thereafter, an inverse-dynamics...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2002
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.20.307