Deep Learning Vision System for Quadruped Robot Gait Pattern Regulation

Free Gait Pattern Generator for the Quadruped Walking Robot ALDURO

The purpose of this paper is to give a short overview of the ongoing work of the combined four-legged and wheeled walking machine ALDURO with special consideration to gait generation in unstructured terrain.

Combination of Transverse-Trot Gait Pattern for Quadruped Walking Robot

This paper presents a combination of transverse and trot walking pattern technique for hexa-quad robot after transformation to optimize the multi-legged robot operation and walking performances. Due to the limitation on the stability of hexapod robot, the combination of hexa-quad walking sequence is proposed to stabilize the quadruped configuration and walking modes. Quadruped robot configurati...

Adaptive gait pattern control of a quadruped locomotion robot

The authors have proposed a control system of a quadruped locomotion robot by using nonlinear oscillators. It is composed of a leg motion controller and a gait pattern controller. The leg motion controller drives the actuators of the legs by using local feedback control. The gait pattern controller involves nonlinear oscillators with mutual interactions. In this paper, capability of adaptation ...

Locomotion Gait Optimization for a Quadruped Robot

Legged robot gait generation is a challenging task that involves the control of a large number of degrees of freedom (DOF’s) within a mechanical structure that varies during locomotion. A large number of motion parameters have to be considered in order to obtain a stable, natural and efficient locomotion. Legged robot locomotion applies nonlinear dynamical equations of high order with a multidi...

Gait Adaptation in a Quadruped Robot