Mahdi Khorram
Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Lab, Dept of Mech Eng, K. N. Toosi Univ of Tech, Tehran, Iran.
[ 1 ] - Dynamics 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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