Omni-directional walking of a quadruped robot with optimal body postures on a slope

被引：0

作者：

Zhang, L ^{[1
]}

Ma, SG ^{[1
]}

Inoue, K ^{[1
]}

Honda, Y ^{[1
]}

机构：

[1] Ibaraki Univ, Fac Engn, Dept Syst Engn, Hitachi, Ibaraki 3160034, Japan

来源：

2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 | 2005年

关键词：

quadruped robot; omni-directional walking; optimal body posture; successive gait-transition;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, we discuss the optimal body postures of a quadruped robot to perform onmi-directional static walking on a slope. The optimal body posture is the posture with the maximum possible moving speed w.r.t. slope and moving direction. The proposed method based on dynamically changing body posture during gait-transitions, is used to maintain high robot motion velocity on slope. The timing of changing body posture is designed by considering the stability during gait-transition. Using the proposed method, the robot can walk into any direction with the fastest moving speed on a slope. Through walking experiments by computer simulation, the validity of the proposed method has been verified.

引用

页码：2976 / 2981

页数：6

共 11 条

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