Experimental verification of hysteresis in gait transition of a quadruped robot driven by nonlinear oscillators with phase resetting

Recently, interest in the study of legged robots has increased, and various gait patterns of the robots have been established. However, unlike humans and animals, these robots still have difficulties in achieving adaptive locomotion, and a huge gap remains between them. This chapter deals with the gait transition of a biped robot from quadrupedal to bipedal locomotion. This gait transition requires drastic changes in the robot posture and the reduction of the number of supporting limbs, so the stability greatly changes during the transition. A locomotion control system is designed to achieve the gait transition based on the physiological concepts of central pattern generator, phase resetting, and kinematic synergy, and the usefulness of this control system is verified by the robot experiment.

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Gait transition and modulation in a quadruped robot: A brainstem-like modulation approach

Robotics and Autonomous Systems ◽

10.1016/j.robot.2011.05.003 ◽

2011 ◽

Vol 59 (9) ◽

pp. 620-634 ◽

Cited By ~ 62

Author(s):

Cristina P. Santos ◽

Vítor Matos

Keyword(s):

Quadruped Robot ◽

Gait Transition

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Omnidirectional Static Walking of a Quadruped Robot on a Slope

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2006.p0051 ◽

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.

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

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.423-426.2799 ◽

2013 ◽

Vol 423-426 ◽

pp. 2799-2804 ◽

Cited By ~ 2

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.

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