Elliptical Motion Method for Robust Quadrupedal Locomotion (CROSBI ID 592392)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Mutka, Alan ; Petric, Frano ; Reichenbach, Tomislav ; Kovačić, Zdenko
engleski
Elliptical Motion Method for Robust Quadrupedal Locomotion
In this paper we present a new elliptical motion method that allows integration of different walking gaits with Jacobian-based robot body kinematics. Implemented walk and trot gaits are controlled with a central pattern generator (CPG). By combining these gaits with robot kinematics, robot pose control is enabled during robot motion. The proposed method generates the elliptical type of foot motion independently of possible robot pose changes, which makes robot locomotion very robust to various disturbance effects (e.g. impact of uneven terrain, external forces, and sensor-guided changes of robot posture). The method was implemented and tested on the 13 degrees of freedom (DOF) four-legged robot. The results have confirmed that the robot maintains the desired walking gait while changing its pose in accordance with a task being executed.
robotics ; four-legged robots ; walking gait control
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Podaci o prilogu
1032-1038.
2012.
objavljeno
Podaci o matičnoj publikaciji
Bogdan, Stjepan
Zagreb: Institute of Electrical and Electronics Engineers (IEEE)
978-1-4673-4504-0
Podaci o skupu
2012 IEEE Multi-Conference on Systems and Control
predavanje
03.10.2012-05.10.2012
Dubrovnik, Hrvatska