An aperiodic Z type spinning gait planning method for a quadruped walking robot

1995 ◽  
Vol 2 (2) ◽  
pp. 163-173 ◽  
Author(s):  
Kyung-Min Jeong ◽  
Jun-Ho Oh
Keyword(s):  
Planning Method ◽  
Walking Robot ◽  
Gait Planning ◽  
Quadruped Walking Robot

scholarly journals A novel human-carrying quadruped walking robot

2017 ◽  
Vol 14 (4) ◽  
pp. 172988141771659 ◽  
Author(s):  
Lingfeng Sang ◽  
Hongbo Wang ◽  
Hongnian Yu ◽  
Luige Vladareanu
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Carrying Capacity ◽  
Parallel Mechanism ◽  
Position Control ◽  
Kinematics Analysis ◽  
Walking Robot ◽  
Universal Joint ◽  
Gait Planning ◽  
Quadruped Walking Robot

This article adopts a 2-UPS+UP (U, P, and S are universal joint, the prismatic joint, and sphere joint, respectively) parallel mechanism as the leg mechanism of the quadruped walking robot based on the bionic concept and the motion capacity of the leg mechanism. The article investigates the kinematics (including the leg mechanism and the whole mechanism), gait planning, control, and experiment in detail. The following tasks are conducted: (1) designing the whole mechanism and developing the kinematics equations for both the leg mechanism and the whole mechanism; (2) planning the trotting gait and designing the foot trajectory based on the robot characteristics and conducting the kinematics analysis; (3) building the control system of the robot using self-developed controllers and drivers and studying the compound position control strategy; and (4) conducting the experiments for validating the controller, the compound position control strategy, the trotting pace, carrying capacity, and human-carrying walking. The results confirm that the proposed human-carrying walking robot has good performance and it is also verified that the controller and the compound position control strategy are suitable.

An aperiodic straight motion planning method for a quadruped walking robot

1995 ◽  
Vol 2 (1) ◽  
pp. 29-41 ◽  
Author(s):  
Kyung-Min Jeong ◽  
Jun-Ho Oh
Keyword(s):  
Motion Planning ◽  
Planning Method ◽  
Walking Robot ◽  
Quadruped Walking Robot

Discontinuous zigzag gait planning of a quadruped walking robot with a waist-joint

2007 ◽  
Vol 21 (1-2) ◽  
pp. 143-164 ◽  
Author(s):  
Sehoon Park ◽  
Yun-Jung Lee
Keyword(s):  
Walking Robot ◽  
Gait Planning ◽  
Quadruped Walking Robot

scholarly journals Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots

Sensors ◽  
2020 ◽  
Vol 20 (17) ◽  
pp. 4911
Author(s):  
Qian Hao ◽  
Zhaoba Wang ◽  
Junzheng Wang ◽  
Guangrong Chen
Keyword(s):  
Impedance Control ◽  
Stability Margin ◽  
Planning Method ◽  
Legged Robots ◽  
Gait Planning ◽  
Quadruped Locomotion ◽  
Quadruped Robots ◽  
Adjustment Strategy ◽  
Compliant Behavior ◽  
The Stability

Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.

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