Omnidirectional static walking of a quadruped robot
Omnidirectional static walking of a quadruped robot
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DOI：
10.1109/tro.2004.835448
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发表时间：
2005-04-01
影响因子：
7.8
通讯作者：
Wada, H
中科院分区：
文献类型：
--
作者：
Ma, SG;Tomiyama, T;Wada, H
本文提出了一种四足机器人的连续步态转换方法，以实现全向静态行走。在爬行步态和旋转步态之间依次进行步态转换，在步态转换前后，双脚保持在共同的位置。通过精心设计爬行步态和旋转步态的足部位置，将足部限制在矩形可达运动范围内，缩短了步态转换时间。计算机仿真和实验验证了所提步态转换方法的有效性和局限性。
In this paper, we propose a successive gait-transition method for a quadruped robot to realize omnidirectional static walking. The gait transition is successively performed among the crawl gaits and the rotation gaits, while the feet hold in common positions before and after gait transition. The gait-transition time is reduced by carefully designing the foot positions of the crawl gait and the rotation gait, while limiting the feet in rectangular reachable motion ranges. Computer simulations and experiments were executed to show the validity and the limitation of the proposed gait-transition method.