Frequency Space Representation of Transitions of Quadruped Robot Gaits
Frequency Space Representation of Transitions of Quadruped Robot Gaits
复制标题
四足机器人步态转换的频率空间表示
DOI：
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发表时间：
2004
期刊：
影响因子：
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通讯作者：
Uwe Düffert
中科院分区：
文献类型：
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作者：
Jan Hoffmann;Uwe Düffert
研究了四足机器人的运动，重点是运动和步态的创建、优化和合并。对机器人步态中使用的控制器命令进行傅立叶级数展开。有人发现，省略高阶项具有非常小的，有时甚至是积极的影响，对机器人的性能，但产生一个大大减少的参数集描述的运动。参数减少对于创建、优化和适应运动是期望的。此外，所获取的频率空间表示允许通过合并现有运动来简单地创建新运动，并且还允许创建从一种类型的运动到另一种类型的运动的过渡。
The locomotion of a quadruped robot was examined with the emphasis on the creation, optimization and merging of motions and gaits. A Fourier Series Expansion was performed on the controller commands used in the robot gait. It was found that omitting higher order terms has very little, at times even positive effect on the robot's performance yet yields a greatly reduced parameter set describing the motion. The parameter reduction is desirable for creating, optimizing and adapting motions. Furthermore, the acquired frequency space representation allows for simple creation of new motions by merging of existing ones and also for creating transitions from one type of motion to another.