A Real-Time Kinematics on the Translational Crawl Motion of a Quadruped Robot

被引：0
|
作者：
Xuedong Chen
Keigo Watanabe
Kazuo Kiguchi
Kiyotaka Izumi
机构：
[1] Saga University,Faculty of Engineering Systems and Technology, Graduate School of Science and Engineering
[2] Saga University,Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering
[3] Saga University,Department of Mechanical Engineering, Faculty of Science and Engineering
来源：
Journal of Intelligent and Robotic Systems | 2000年 / 29卷
关键词：
crawl velocity; joint position; joint velocity; quadruped robot; real-time kinematics; trajectory of center-of-gravity; translational crawl gait;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
It is known that the kinematics of a quadruped robot is complex due to its topology and the redundant actuation in the robot. However, it is fundamental to compute the inverse and direct kinematics for the sophisticated control of the robot in real-time. In this paper, the translational crawl gait of a quadruped robot is introduced and the approach to find the solution of the kinematics for such a crawl motion is proposed. Since the resulting kinematics is simplified, the formulation can be used for the real-time control of the robot. The results of simulation and experiment shows that the present method is feasible and efficient.
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页码：111 / 131
页数：20
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