Gait Planning of Quadruped Robot Walking on a Slope Based on Static Balance

2013 ◽  
Vol 373-375 ◽  
pp. 282-286 ◽  
Author(s):  
Wen Yu Zhang ◽  
Lei Zhang
Keyword(s):  
Center Of Pressure ◽  
Quadruped Robot ◽  
Joint Torque ◽  
Static Balance ◽  
Gait Transition ◽  
Gait Planning ◽  
Motion Speed ◽  
Walking Environment ◽  
Movement Parameters ◽  
The Stability

Gait planning affects stability, motion speed, and joint torque of quadruped robot etc. Also, it is necessary to consider movement parameters of slope walking environment such as the inclination angle, the movement area of feet and so on. The stability criterion on the basis of center of pressure is chosen to analyze the stability during the movement. Based on static balance, the omni-directional walking of quadruped robot on a slope is planned. CFP is set in order to reduce the transition steps. Then the start and end positions of swinging leg and supporting leg is calculated. The process of gait transition is planned to make sure stable and continuous movement. The experiment verifies the validity of the proposed method.

Quadruped Robot Omni-Directional Walking on a Slope Based on Static Balance

2012 ◽  
Vol 591-593 ◽  
pp. 1436-1440
Author(s):  
Wen Yu Zhang ◽  
Lei Zhang
Keyword(s):  
Computer Simulation ◽  
Structural Stability ◽  
Stability Criterion ◽  
Quadruped Robot ◽  
Static Balance ◽  
Gait Transition ◽  
Uneven Terrain ◽  
Transition Problem ◽  
Walking Environment ◽  
The Stability

Quadruped robot is widely developed on the basis of bionic technology and has good structural stability and flexibility in uneven terrain. It is required of the quadruped robot to keep static balance while transportation task is executed. In this paper, first, the unstable problems during static walking on a slope have been analyzed in detail, and the stability criterion which considering affections of slope walking environment has been proposed. Based on static balance, the falling over problem and tumbling around the line connecting two support feet during gait transition problem have been solved. The gaits are planned to ensure omni-directional stable walking on a slope. Through walking experiments by computer simulation, the validity of the proposed method has been verified.

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.

The Design of the Quadruped Robot

2014 ◽  
Vol 889-890 ◽  
pp. 1159-1164
Author(s):  
Jun Rui Shi
Keyword(s):  
Center Of Mass ◽  
Quadruped Robot ◽  
Joint Torque ◽  
Gait Planning ◽  
D Model ◽  
Method Analysis

Through summarizing the quadruped walking style design quadruped robot, obtained using DH method analysis of the mechanism kinematics principle, designed for the continuity of the gait, and to add the 3 d model of constraint into ADAMS to verify, through the analysis of the displacement of the center of mass, joint torque, verify the rationality of the gait planning and meet the requirements for the selected motor.

The simplest creeping gait for a quadruped robot

2012 ◽  
Vol 227 (1) ◽  
pp. 170-177 ◽  
Author(s):  
Fei Liu ◽  
Dan Wu ◽  
Ken Chen
Keyword(s):  
Mathematical Description ◽  
Degrees Of Freedom ◽  
Stability Margin ◽  
Geometrical Model ◽  
Quadruped Robot ◽  
Center Of Gravity ◽  
Gait Planning ◽  
Directional Stability ◽  
The Stability ◽  
Initial Pattern

This article presents the simplest creeping gait (creeping gait with one center-of-gravity movement in a cycle) for a quadruped robot. The creeping gait with one center-of-gravity movement is efficient in reducing the complexity of gait planning and the control of quadrupeds. To find the simplest creeping gait, the geometrical model of a quadruped is constructed, and the omni-directional stability margin is derived to determine the stability. Based on the features of creeping gaits, the simplest possible gait is analyzed. The mathematical description is used to describe the simplest gait with the maximum omni-directional stability margin. Details of the creeping gait, including its initial pattern and its sequences, are provided. In a cycle of the creeping gait with one center-of-gravity movement, the center of gravity needs to move only once. Only 16 commands are required to move a quadruped with two degrees of freedom in each leg. An experiment conducted on the THU-WL robot proves that the gait is reliable and stable. The creeping gait with one center-of-gravity movement is a remarkable simplification for the creeping gait.

scholarly journals Gait Planning and Stability Control of a Quadruped Robot

2016 ◽  
Vol 2016 ◽  
pp. 1-13 ◽  
Author(s):  
Junmin Li ◽  
Jinge Wang ◽  
Simon X. Yang ◽  
Kedong Zhou ◽  
Huijuan Tang
Keyword(s):  
Stability Control ◽  
Quadruped Robot ◽  
Oscillation System ◽  
Hip Joints ◽  
Gait Planning ◽  
Reduced Order ◽  
System A ◽  
The Stability ◽  
Real Time Computing ◽  
Speed Adjustment

In order to realize smooth gait planning and stability control of a quadruped robot, a new controller algorithm based on CPG-ZMP (central pattern generator-zero moment point) is put forward in this paper. To generate smooth gait and shorten the adjusting time of the model oscillation system, a new CPG model controller and its gait switching strategy based on Wilson-Cowan model are presented in the paper. The control signals of knee-hip joints are obtained by the improved multi-DOF reduced order control theory. To realize stability control, the adaptive speed adjustment and gait switch are completed by the real-time computing of ZMP. Experiment results show that the quadruped robot’s gaits are efficiently generated and the gait switch is smooth in the CPG control algorithm. Meanwhile, the stability of robot’s movement is improved greatly with the CPG-ZMP algorithm. The algorithm in this paper has good practicability, which lays a foundation for the production of the robot prototype.

Straight Walking and Stair Climbing Gait of Quadruped Robot Based on Static Balance

ROBOT ◽  
2010 ◽  
Vol 32 (2) ◽  
pp. 226-232 ◽  
Author(s):  
Bo HUANG ◽  
Jianwen ZHAO ◽  
Lining SUN
Keyword(s):  
Quadruped Robot ◽  
Stair Climbing ◽  
Static Balance

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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