Locomotion of Dog-like Quadruped Robots: Walk and Trot
نویسندگان
چکیده
منابع مشابه
A stability-based mechanism for hysteresis in the walk-trot transition in quadruped locomotion.
Quadrupeds vary their gaits in accordance with their locomotion speed. Such gait transitions exhibit hysteresis. However, the underlying mechanism for this hysteresis remains largely unclear. It has been suggested that gaits correspond to attractors in their dynamics and that gait transitions are non-equilibrium phase transitions that are accompanied by a loss in stability. In the present study...
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[5] Ludovic Righetti and Auke Jan Ijspeert. Quadruped locomotion: from infants crawling to the design of pattern generators for quadruped robots. In AMAM 2008 abstracts, pages 90–91, 2008. Acknowledgments The research leading to these results has received funding from the European Communitys Seventh Framework Programme FP7/2007-2013-Challenge 2-Cognitive Systems, Interaction, Robotics-under gra...
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Competing at the RoboCup 2000 Sony legged robot league, the UNSW team won both the challenge competition and all their soccer matches, emerging the outright winners for this league against eleven other international teams. The main advantage that the UNSW team had was speed. A major contributor to the speed was a novel omnidirectional locomotion method developed for the quadruped Sony ERS-110 r...
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We compare the performance of eight controllers for quadruped robot trot gaits. The controller variations couple the robot’s actuators using a different symmetry each, to reduce the effective number of parameters required to control the trot gait. We compare the performance of all controllers on a learning task where robots learn to walk fast without falling, in a physically realistic simulatio...
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Legged vehicles offer several advantages over wheeled vehicles, particularly over broken terrain, but are presently too slow to be advantageous for many tasks. Trotting, the precursor to galloping for many quadrupeds, employs high-speed actuation to coordinate the intermittent ground contacts for each leg. Compliant elements and high-power actuators combine to perform a complex interchange of p...
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ژورنال
عنوان ژورنال: Journal of the Korea Society for Simulation
سال: 2011
ISSN: 1225-5904
DOI: 10.9709/jkss.2011.20.1.051