Trot Gait for a Quadruped Walking Robot on Unknown Slope Using ZMP
Trot Gait for a Quadruped Walking Robot on Unknown Slope Using ZMP
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使用 ZMP 在未知坡度上四足步行机器人的小跑步态
DOI：
10.7210/jrsj.35.317
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
A. Gofuku
中科院分区：
文献类型：
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作者：
T. Kamegawa;Junichi Kitago;A. Gofuku
我们专注于四足机器人作为移动平台，可以在灾难现场、办公室和工厂等各种环境中工作。在本文中，我们假设地形由斜坡组成，并提出了四足机器人在未知斜坡上的行走步态。在这种方法中，机器人基本上以小跑步态行走，因为小跑步态既具有较高的稳定性，又具有实用的行走速度，以便在陡坡上稳定行走。首先，机器人通过身体姿态和脚在斜坡上的位置来估计斜坡的倾斜度。然后利用机器人的倒立摆模型和多质量模型生成机器人在斜坡上稳定行走的行走模式。通过四足机器人 TITAN-VIII 在半途存在台阶或其他斜坡的斜坡上行走的实验验证了所提出的方法。
We focus on a quadruped robot as a mobile platform which would work at various environment such as disaster sites, offices and factories. In this paper, we assume that terrain consists of slopes and we propose a walking gait for a quadruped robot on unknown slopes. In this method, the robot basically walks in trot gait because trot gait has both high stability and practical walking speed in order to walk stably on steep slopes. At first, robot estimates slant of the slope by using body attitude and foot positions on the slope. Then it generates walking pattern for the robot to walk stably on the slope by using inverted pendulum model and multi-mass model of the robot. The proposed method was verified through experiments with a quadruped robot TITAN-VIII walked on slopes where a step or other slope exist halfway.