Stability Criterion for Dynamic Gaits of Quadruped Robot
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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Legged robots are highly attractive for military purposes such as carrying heavy loads on uneven terrain for long durations because of the higher mobility they give on rough terrain compared to wheeled vehicles/robots. Existing state-of-the-art quadruped robots developed by Boston Dynamics such as LittleDog and BigDog do not have flexible bodies. It can be easily seen that the agility of quadru...
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The locomotion of a quadruped robot was examined with the emphasis on the creation, optimization and merging of motions and gaits. A Fourier Series Expansion was performed on the controller commands used in the robot gait. It was found that omitting higher order terms has very little, at times even positive effect on the robot’s performance yet yields a greatly reduced parameter set describing ...
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Numerical simulation and optimization of gaits for quadruped robots based on nonlinear multibody dynamics models of legged locomotion have made progress recently. A fully threedimensional dynamical model of Sony’s four-legged robot is used to state an optimal control problem for a symmetric, dynamically stable gait. The optimal control problem is solved by a sparse direct collocation method. Nu...
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A trend in robotics is towards legged robots. One of the issues with legged robots is the development of gaits. Typically gaits are developed manually. In this paper we report our results of autonomous evolution of dynamic gaits for the Sony Quadruped Robot. Fitness is determined using the robot's digital camera and infrared sensors. Using this system we evolve faster dynamic gaits than previou...
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ژورنال
عنوان ژورنال: Applied Sciences
سال: 2018
ISSN: 2076-3417
DOI: 10.3390/app8122381