A Gait Generation for an Unlocked Joint Failure of the Quadruped Robot with Balance Weight

2009 ◽  
pp. 251-261 ◽  
Author(s):  
C. H. Cho ◽  
B. C. Min ◽  
D. H. Kim
Keyword(s):  
Quadruped Robot ◽  
Joint Failure ◽  
Gait Generation ◽  
Balance Weight

Detecting Centroid Projection for a Quadruped Robot with Hand-Fused Foot Based on ARM

2011 ◽  
Vol 287-290 ◽  
pp. 2789-2792
Author(s):  
Yu Xiao Zhang ◽  
Xian Quan Zeng ◽  
Xin Jie Wang
Keyword(s):  
Path Planning ◽  
Pressure Sensors ◽  
Reference Value ◽  
Quadruped Robot ◽  
Newtonian Mechanics ◽  
Gait Generation ◽  
Distance Measuring

Because weight is unsymmetrical for the robot with hand-fused foot, a method is found to calculate the centroid projection coordinate from the perspective of Newtonian mechanics. Centroid projection coordinate of the robot is detected with ARM, pressure sensors, distance measuring sensors, and multiplexer. Software is designed for the centroid projection detection from 3 aspects as multiplexer chip selection, A/D conversion operations, and centroid calculation. In the experiment, several groups of data were gained, which contained sensors data and centroid projection coordinate. Centroid projection detection has certain reference value for gait generation and path planning.

Detecting Centroid for a Quadruped Robot with Hand-Fused Foot Based on ARM

2011 ◽  
Vol 130-134 ◽  
pp. 239-242
Author(s):  
Xin Jie Wang ◽  
Zhi Lin Yang ◽  
Xian Quan Zeng ◽  
Yu Xiao Zhang
Keyword(s):  
Path Planning ◽  
Pressure Sensors ◽  
Reference Value ◽  
Quadruped Robot ◽  
Newtonian Mechanics ◽  
Gait Generation ◽  
Centroid Detection ◽  
Distance Measuring

Because weight is unsymmetrical for the robot with hand-fused foot, a method is found to calculate the centroid coordinate from the perspective of Newtonian mechanics. Centroid coordinate of the robot is detected using ARM, pressure sensors, distance measuring sensors, and multiplexer. Software is designed for the centroid detection from 3 aspects as multiplexer chip selection, A/D conversion operations, and centroid calculation. Centroid projection detection has certain reference value for gait generation and path planning.

Genetic Programming-Based Automatic Gait Generation in Joint Space for a Quadruped Robot

2010 ◽  
Vol 24 (15) ◽  
pp. 2199-2214 ◽  
Author(s):  
Kisung Seo ◽  
Soohwan Hyun ◽  
Erik D. Goodman
Keyword(s):  
Genetic Programming ◽  
Joint Space ◽  
Quadruped Robot ◽  
Gait Generation
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