The Quasi-Passive Quadruped Robot walking: PASIQUAD
نویسندگان
چکیده
منابع مشابه
3D Quasi-passive Walking of Biped Robot with Flat Feet - Gait Comparison between Passive Walking and Quasi-passive Walking -
Currently, many bipedal robots have been proposed to realize the high energy efficiency walking. The control input isn’t required for the passive dynamic walking. Generally, a foot of passive dynamic walking robot is an arc foot. In this paper, it is intended to establish a control method and control mechanism to achieve the energy efficient and the stable gait. Therefore, we developed 3D quasi...
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Though development of a practical walking robot is not easy at all, walking robots have many practical advantages resulting from moving functions peculiar to this type of robots including excellent moving characteristics and working characteristics on uneven land. Paying special attention to the encouraging possibility of the walking robot, the authors have been continuing research and developm...
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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.
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Alduro is a four-legged walking robot. Its main goal is to operate in rugged terrain, translating the cartesian operator commands (joystick) into actuator space by coordinating the legs according to the users wish. At the same time static stability has to be guaranteed, obstacles have to be avoided and the posture of the main body kept. This requires an elaborate motion coordination and control...
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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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ژورنال
عنوان ژورنال: International Robotics & Automation Journal
سال: 2017
ISSN: 2574-8092
DOI: 10.15406/iratj.2017.02.00028