منابع مشابه
Dynamics in the dynamic walk of a quadruped robot
Walk can be classi ed as \static walk" and \dynamic walk". It is said that dynamic walk is superior in both speed and energy consumption. This paper describes how a quadruped robot should walk dynamically to realize these advantages. Such consideration is lacking in past research. In this paper, three criteria are introduced to evaluate the walk { `stability', `maximum speed' and `energy consum...
متن کاملSlip-adaptive walk of quadruped robot
In this paper, we investigated the effects of the friction condition on walking pattern and energy efficiency, and based on the results, we proposed two new “slip-adaptive” strategies for generating a slip-adaptive walk. The first strategy for a slip-adaptive walk uses a slip reflex via a Central Pattern Generator (CPG) to change the walking pattern. The second strategy for a walk uses a force ...
متن کاملEvolving Dynamic Maneuvers in a Quadruped Robot
In nature, quadrupedal mammals can run at high speeds over uneven terrain, turn sharply, jump obstacles, and stop suddenly. While these abilities are common features in biological locomotion, they represent remarkable feats from both an engineering and control perspective. Although some robots over the past several decades have been capable of dynamic running gaits, none have adequately demonst...
متن کاملDynamic turning control of a quadruped locomotion robot using oscillators
The authors have proposed a dynamic turning control system of a quadruped robot by using nonlinear oscillators. It is composed of a spontaneous locomotion controller and voluntary motion controller. In this article, capability of dynamic turning motion of the proposed control system is verified through numerical simulations and hardware experiments: Various turning speed and orientation make th...
متن کاملDynamic Modeling and Simulation of Compliant Legged Quadruped Robot
Quadruped robot has many advantages over wheeled mobile robots, but it is a discrete system in which joints of each leg has to operate in particular fashion to get the desired locomotion. So, dynamics plays an important role in the operation and control of quadruped robot. Proper conception of the dynamic formulation is must for the complex system like quadruped robot. Here, an attempt is made ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1993
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.11.372