Adaptive Gait Control for a Quadruped Robot on 3D Path Planning
Adaptive Gait Control for a Quadruped Robot on 3D Path Planning
复制标题
四足机器人 3D 路径规划的自适应步态控制
DOI：
10.1541/ieejeiss.123.1813
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发表时间：
2003
影响因子：
--
通讯作者：
M. Kakikura
中科院分区：
文献类型：
--
作者：
H. Igarashi;M. Kakikura
腿式步行机器人不仅能够在不规则地形上移动，而且能够改变其姿态。例如，机器人可以通过蹲下通过头顶上的障碍物。本研究的目的是实现四足机器人的有效路径规划。因此，由于移动性，路径规划有望在三维扩展。然而，四足机器人的一些问题，这是不稳定的，工作空间的限制，死锁和滑移，复杂的实现这样的应用。为了改善这些问题，增强移动性，四足机器人的一个新的静态步态模式，称为TFG：轨迹跟随步态，提出。过渡联邦政府打算获得像轮式机器人一样的高可控性。此外，TFG允许在行走过程中改变姿势。本文的实验结果表明，该方法有效地解决了这一问题，可用于三维环境中的高效运动。
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 overhead obstacles by crouching. The purpose of our 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. However, some issues of the quadruped robot, which are instability, workspace limitation, deadlock and slippage, complicate realizing such application. In order to improve these issues and reinforce the mobility, a new static gait pattern for a quadruped robot, called TFG: Trajectory Following Gait, is proposed. The TFG intends to obtain high controllability like a wheel robot. Additionally, the TFG allows to change it posture during the walk. In this paper, some experimental results show that the TFG improves the issues and it is available for efficient locomotion in three dimensional environment.