Dynamic compliant quadruped walking
Dynamic compliant quadruped walking
复制标题
动态柔顺四足行走
DOI：
10.1109/robot.2001.933102
复制
发表时间：
2001
期刊：
影响因子：
--
通讯作者：
M. Buehler
中科院分区：
文献类型：
--
作者：
Martin de Lasa;M. Buehler
提出了一种新的柔性腿四足机器人动态步行控制器。该算法实现了一个“步行绑定”的步态，只需要一个致动器，每条腿在臀部，并命令一个恒定的臀部速度在站立。该算法已成功地实现了我们的侦察兵II四足机器人，并产生了稳定的步行范围内的操作条件下，最小的依赖反馈。实验数据是用来说明扭矩产生的重要考虑因素，需要考虑到成功的实施和现实的腿式机器人建模。此外，我们量化的能量，我们的步行实验通过比电阻和文件之间的巨大差异机械和电力。
This paper presents a new dynamic walking controllers for quadrupedal robots with compliant legs. The algorithm implements a "walking bound" gait, requires only one actuator per leg at the hip, and commands a constant hip velocity during stance. The algorithm has been implemented successfully on our Scout II quadruped robot and has yielded stable walking for ranges of operating conditions with minimal reliance on feedback. The experimental data is used to illustrate important considerations on torque generation that need to be taken into account both for successful implementations and realistic modeling of legged robots. In addition, we quantify the energetics of our walking experiments via the specific resistance and document dramatic differences between mechanical and electrical power.
影响因子：
9.2
作者：
MCGEER, T
通讯作者：
MCGEER, T