Omni-directional Walking of a Quadruped Robot on a Slope

Omni-directional Walking of a Quadruped Robot on a Slope
复制标题

DOI：
10.1109/robio.2004.1521788
复制
发表时间：
2004-08
期刊：
2004 IEEE International Conference on Robotics and Biomimetics
影响因子：
--
通讯作者：
Lei Zhang;Shugen Ma;Y. Honda;K. Inoue
Lei Zhang;Shugen Ma;Y. Honda;K. Inoue
中科院分区：
其他
文献类型：
--
作者：
Lei Zhang;Shugen Ma;Y. Honda;K. Inoue

文献摘要

相似文献

在本研究中，我们讨论一个四足机器人的全方位步行在斜坡上行走。介绍了一种在斜坡上实现指定姿态下连续步态过渡的方法。使用该方法，已经验证了移动速度和身体姿态之间的折衷。仿真和实验结果表明，所提出的四足机器人斜坡稳定行走方法是有效的
In this study, we discuss omni-directional walking of a quadruped robot to walk on a slope. A method for successive gait-transition on a slope with specified body posture is introduced. Using this method, a trade-off between the moving speed and the body posture has been verified. Simulations and experiments showed that the proposed method for stable slope walking of a quadruped robot is valid