An Efficient Forward Gait Control for a Quadruped Walking Robot

1995 ◽  
pp. 533-548
Author(s):  
Daniel J. Pack ◽  
A.C. Kak
Keyword(s):  
Walking Robot ◽  
Gait Control ◽  
Quadruped Walking Robot

scholarly journals Development of a Quadruped Walking Robot TITAN XI for Steep Slope Operation - Step Over Gait to Avoid Concrete Frames on Steep Slopes -

2007 ◽  
Vol 19 (1) ◽  
pp. 13-26 ◽  
Author(s):  
Ryuichi Hodoshima ◽  
◽  
Takahiro Doi ◽  
Yasushi Fukuda ◽  
Shigeo Hirose ◽  
...  
Keyword(s):  
Stability Margin ◽  
Walking Robot ◽  
Concrete Frames ◽  
Gait Control ◽  
Graphical Simulation ◽  
Quadruped Walking Robot ◽  
Sufficient Stability ◽  
Adaptive Gait ◽  
Step Over ◽  
Steep Slopes

We detail a step over gait for a quadruped walking robot that maintains a continuous walking with sufficient stability margin for avoiding ferroconcrete reinforcement frames covering steep slopes. For this gait, the robot must adapt itself to terrain and step over these frames. We propose a terrain-adaptive gait based on an intermittent crawl gait using map information. After introducing the gait control algorithm, we show results of graphical simulation to verify the proposed algorithm. Then, these discussions are established by walking experiments using the developed quadruped walking robot named TITAN XI.

3D Visual Information Processing and Gait Control of a Quadruped Robot - for operation on a steep slope protected by a free frame -

2003 ◽  
Vol 15 (3) ◽  
pp. 349-355 ◽  
Author(s):  
Takahiro Doi ◽  
◽  
Hideyuki Tsukagoshi ◽  
Shigeo Hirose
Keyword(s):  
Visual Information ◽  
Quadruped Robot ◽  
Steep Slope ◽  
Walking Robot ◽  
Construction Work ◽  
Gait Control ◽  
Natural Slope ◽  
Quadruped Walking Robot ◽  
The Stability ◽  
Steep Slopes

Construction work on steep slopes is difficult and dangerous, but it is also difficult to automate work at such type sites. One reason is that construction sometimes calls for movement across a ""Free Frame"" - a structure built to keep a slope from collapsing - and because of the ups and downs of the natural slope, it is difficult to design a purposeful simple mechanism to move on this frame. We propose a sensor-based quadruped walking robot that moves on the slope without damage to the surface of the frame, and developed a TITAN VII prototype robot. We detail the techniques required by this type robot to move and work on steep slopes. Practical ways of A) detecting positions and orientations of frame surfaces on rough slopes and B) stepping over the frame and maintaining the stability of the robot using positioning, are presented and their effectiveness is verified through experiments.

scholarly journals Development of Track-changeable Quadruped Walking Robot TITAN X-Design of Leg Driving Mechanism and Basic Experiment-

2010 ◽  
Vol 28 (7) ◽  
pp. 872-879
Author(s):  
Ryuichi Hodoshima ◽  
Yasuaki Fukumura ◽  
Hisanori Amano ◽  
Shigeo Hirose
Keyword(s):  
Driving Mechanism ◽  
Walking Robot ◽  
Basic Experiment ◽  
Quadruped Walking Robot
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