Towards efficient implementation of quadruped gaits with duty factor of 0.75
Towards efficient implementation of quadruped gaits with duty factor of 0.75
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高效实现占空比为 0.75 的四足步态
DOI：
10.1109/robot.1999.770458
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
P. Blazevic
中科院分区：
文献类型：
--
作者：
V. Hugel;P. Blazevic
研究了四足机器人高效行走模式的实现。主要目标是使机器人能够尽可能快地向各个方向行走。不仅考虑了向前运动，还考虑了向后运动，包括绕身体平台重心旋转在内的变曲率转弯步态。为此，我们以占空因子为3/4的爬行步态作为实验研究的起点。在此基础上，采用侧向运动改进了规则对称步态，采用前向爬行步态改进了转弯步态，设计了一种特殊的旋转运动。所有的过渡之间的前进，后退，左和右转弯和旋转运动的细节。使用索尼公司的四足“宠物机器人”原型机进行了实验，该原型机将参加98年巴黎机器人世界杯的有腿机器人展览。
Deals with the implementation of an efficient walking pattern for quadruped robots. The main objective is to give the robot the ability to walk in every direction as quickly as possible. Not only forward motion, but also backward motion, turning gaits of variable curvature including rotation around the body platform center of gravity (COG) are considered separately. For this purpose the well known crawl gait with duty factor of 3/4 represents the starting point of the experimental study. From this point the regular symmetric gait is improved thanks to sideways motion, turning gaits are adapted from the forward crawl gait and a special rotation motion is designed. All transitions between forward, backward, left and right turning and rotation motions are detailed. Experiments have been carried out using the Sony quadruped "pet robot" prototype which look part in the Paris Robocup-98 legged robot exhibition.