Adaptive gait for a quadruped robot on 3D path planning
Adaptive gait for a quadruped robot on 3D path planning
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四足机器人的 3D 路径规划自适应步态
DOI：
10.1109/robot.2003.1241895
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
K. Masayoshi
中科院分区：
文献类型：
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作者：
I. Hiroshi;K. Masayoshi
有腿行走机器人不仅能在不规则地形上移动，还能改变姿态。例如，机器人可以通过蹲伏在头顶上方的障碍物。本研究的目的是实现四足机器人的高效路径规划。因此，由于四足机器人的可移动性，路径规划有望扩展到三维空间。尽管具有这些优点，但四足机器人存在的不稳定性和工作空间限制等问题使其难以实现应用。其中，死锁是一个严重的问题，因为它会导致行走停止和可控性降低。死锁是由不稳定性和工作空间限制共同导致的。为了改善这种死锁现象，我们提出了一种新的四足机器人自由步态模式——轨迹跟随步态（TFG）。TFG的目的是获得像轮式机器人一样的高可控性，而不存在死锁。TFG还允许在行走过程中改变姿势，这是行走机器人的优点之一。实验结果表明，该算法改善了四足机器人的三维路径规划问题，具有一定的应用价值。
A legged walking robot is able to not only move on irregular terrain but also change its posture. For example, the robot can pass under above head obstacles with crouching. The purpose of this research is to realize efficient path planning with a quadruped robot. Therefore, the path planning is expected to extended in three dimensions because of the mobility of the quadruped robot. Even tough these advantages, some issues of the quadruped robot that are instability and workspace limitation complicate realizing the application. Especially, a deadlock is serious problem because it causes the walk stop and less controllability. The deadlock is brought by concurrence of instability and workspace limitation. In order to improve the deadlock, we propose the new free gait pattern for a quadruped robot, called TFG (trajectory following gait). The TFG intends to obtain high controllability like a wheel robot without the deadlock. The TFG additionally allows changing posture, during the walk, which is one of merits of a walking robot. In this paper, experimental result shows that the TFG improves the problems of a quadruped robot and is valuable for three dimensional path planning.