Dynamics in dynamic walk of the quadruped robot.
نویسندگان
چکیده
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...
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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 ...
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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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متن کاملdynamics modeling and stable gait planning of a quadruped robot in walking over uneven terrains
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: 1988
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.6.5_367