Gait Design and Comparison Study of a Quadruped Robot

被引：0
|
作者：
Zhou, Liguang [1 ]
Qian, Huihuan [1 ]
Xu, Yangsheng [1 ]
Liu, Wan [2 ]
机构：
[1] Chinese Univ Hong Kong, Shenzhen 518172, Peoples R China
[2] China Jiliang Univ, Hangzhou 310018, Zhejiang, Peoples R China
来源：
2017 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (IEEE ICIA 2017) | 2017年
关键词：
Quadruped robot system; gait design; gait comparison;
D O I：
暂无
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
This paper presents the gait design and comparison study of a quadruped robot. The main contributions of this paper are: (i) Explore the modularized system design of an 8 degree-of-freedom quadruped robot with a power management system. (ii) Propose a gait design method based on drive function. (iii) Propose another gait design method based on foot trajectory. (iv) The simulation of the walk and trot gaits with above-mentioned methods are validated in Webots. (v) The walk and trot gait are successfully implemented in the real robot. Experimental results show that the stable locomotion can be achieved with improved elliptical foot trajectory.
引用
收藏
页码：80 / 85
页数：6
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