Gait Transition Method for Quadruped Robot Based on CPG Network and Impedance Control

2020 ◽  
Author(s):  
Sai Gu ◽  
Fei Meng ◽  
Botao Liu ◽  
Zewen He ◽  
Xuxiao Fan ◽  
...  
Keyword(s):  
Impedance Control ◽  
Quadruped Robot ◽  
Gait Transition

Omnidirectional Static Walking of a Quadruped Robot on a Slope

2006 ◽  
Vol 18 (1) ◽  
pp. 51-58
Author(s):  
Lei Zhang ◽  
◽  
Shugen Ma ◽  
Yoshinori Honda ◽  
Kousuke Inoue ◽  
...  
Keyword(s):  
Stability Margin ◽  
Static Stability ◽  
Quadruped Robot ◽  
Body Posture ◽  
Gait Transition ◽  
Minimum Number ◽  
Motion Speed ◽  
Arbitrary Body ◽  
Time Required ◽  
Foot Position

We propose successive gait transition with arbitrary body posture to enable a quadruped robot to walk statically and omnidirectionally on a slope. Body posture is determined by rotation around 3 axes, roll, pitch, and yaw. Successive gait transition with a minimum number of steps on a slope is realizable using common foot position before and after gait transition. The time required to transit between gaits is reduced by carefully designing foot position in crawling and rotating while limiting foot reachable region on a slope. The robot thus walks into any direction with arbitrary body postures. In this study, we also verify a tradeoff relation between motion speed and body posture. Computer simulation and experiments verified the feasibility of our proposed method and the stability of gait transition based on static stability margin.

Gait Transition of Quadruped Robot Using Time Sequence Control Based on Finite-State Machine

2013 ◽  
Vol 423-426 ◽  
pp. 2799-2804 ◽  
Author(s):  
An Liu ◽  
Xiao Yu Zhang ◽  
Kai Ge Zhang
Keyword(s):  
Finite State Machine ◽  
Stance Phase ◽  
Swing Phase ◽  
State Machine ◽  
Quadruped Robot ◽  
Time Sequence ◽  
Gait Transition ◽  
Duration Time ◽  
Finite State

The adaptability of velocity changing of quadruped robot needs to be realized by gait transition. In this paper, a gait transition method of a quadruped robot based on changing the time sequence was investigated. The swing phase and the stance phase are separated by finite-state machine (FSM), and the locomotion gait involves breaking/enforcing synchronization or changing the order of leg liftoff events, it makes the duration time of liftoff and touchdown events variable. The gait transition from walk to trot is realized by the combination driving of time and event. The experiment is verified by interactive co-simulation among Matlab-Adams. The transition method satisfies the velocity changing of quadruped robot.

Autonomous gait transition and galloping over unperceived obstacles of a quadruped robot with CPG modulated by vestibular feedback

2019 ◽  
Vol 111 ◽  
pp. 1-19 ◽  
Author(s):  
Takahiro Fukui ◽  
Hisamu Fujisawa ◽  
Kotaro Otaka ◽  
Yasuhiro Fukuoka
Keyword(s):  
Quadruped Robot ◽  
Gait Transition
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