DEVELOPING DYNAMIC GAITS FOR FOUR LEGGED ROBOTS
DEVELOPING DYNAMIC GAITS FOR FOUR LEGGED ROBOTS
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发表时间：
2003
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通讯作者：
Makoto Toyomasu;A. Shinohara
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作者：
Makoto Toyomasu;A. Shinohara
本文介绍了四足机器人动态步态的研究进展。为了使步态的设计和开发变得更容易，我们开发了一个交互式工具。提出了一种腿和轮状运动的动力学模型，结合了轮式和腿式的特点，以产生平稳的四足运动和高灵活性。
This paper presents our development of dynamic gaits for four legged robots. To make design and development of gaits easier, we developed an interactive tools. A dynamic model of the leg and wheel-like motion are proposed to combine both wheeled and legged properties to produce smooth quadruped motion and high flexibility.