THE MOTION ANALYSIS AND TRAJECTORY PLANNING OF STATIC GAIT FOR THE QUADRUPED ROBOT

2017 ◽  
Author(s):  
RUINA DANG ◽  
PENG XU ◽  
QICHANG YAO ◽  
BO SU ◽  
LEI JIANG ◽  
...  
Keyword(s):  
Motion Analysis ◽  
Trajectory Planning ◽  
Quadruped Robot

Dynamic Modeling and Simulation of a Yaw-Angle Quadruped Maneuvering With a Planar Robotic Tail

2016 ◽  
Vol 138 (8) ◽  
Author(s):  
William Rone ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Dynamic Modeling ◽  
Trajectory Planning ◽  
Frequency Modulation ◽  
Quadruped Robot ◽  
Contact Friction ◽  
Ground Contact ◽  
Cycle Frequency ◽  
Tail Structure ◽  
Yaw Angle ◽  
The Impact

This paper analyzes the impact a planar robotic tail can have on the yaw-angle maneuvering of a quadruped robot. Tail structures ranging from a one degree-of-freedom (1DOF) pendulum to a 6DOF serpentine robot are simulated, along with a quadruped model that accounts for ground contact friction. Tail trajectory generation using split-cycle frequency modulation is used to improve net quadruped rotation due to the tail's motion. Numerical results from the tail and quadruped models analyze the impact of trajectory factors and tail structure on the net quadruped rotation. Results emphasize the importance of both tangential and centripetal tail loading for tail trajectory planning and show the benefit of a multi-DOF tail.

2112 Trajectory Planning of Quadruped Robot Toes Requested Motion of Stepping over Obstacles

2010 ◽  
Vol 2010.20 (0) ◽  
pp. _2112-1_-_2112-2_
Author(s):  
Takahiko KAWAMORI ◽  
Suguru KAWAMURA ◽  
Takashi GOTO ◽  
Masayuki NAKAMURA
Keyword(s):  
Trajectory Planning ◽  
Quadruped Robot

G150033 Walking Trajectory Planning of Quadruped Robot Based on Learning Obstacle Environment and Optimum Stepping Points

2011 ◽  
Vol 2011 (0) ◽  
pp. _G150033-1-_G150033-5
Author(s):  
Takahiko KAWAMORI ◽  
Takashi GOTO ◽  
Ken Iijima ◽  
Masayuki NAKAMURA
Keyword(s):  
Trajectory Planning ◽  
Quadruped Robot
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