Book ChapterDOI
Realization of Dynamic Quadruped Locomotion in Pace Gait by Controlling Walking Cycle
Akihito Sano,Junji Furusho +1 more
- pp 491-502
Reads0
Chats0
TLDR
The effectiveness of the proposed control method of pace gait was confirmed by means of computer simulation and also in walking experiments using the quadruped walking robot.Abstract:
In this study, a control method of pace gait which is often observed in middle or high-speed walking of animals is discussed. The motion in pace gait can be divided into the motion in the sagittal plane (plane vertical to the floor including the walking direction) and the motion in the lateral plane (plane vertical to the walking direction). As for the lateral motion control, a dead beat control is adopted for the purpose of adjusting the walking cycle. As for the sagittal motion control, a trajectory of the leg is designed by considering the control algorithm of the lateral plane. The effectiveness of the proposed control method was confirmed by means of computer simulation and also in walking experiments using the quadruped walking robot. Our robot COLT-3 achieved the pace walking at speed of 0.25 m/s.read more
Citations
More filters
Proceedings ArticleDOI
Development of "MEL HORSE"
TL;DR: A new legged machine named "MEL HORSE II" is developed, a quadruped robot that integrates both biped control and quadruped control and an enhanced passive biping control is proposed.
Proceedings ArticleDOI
Passive dynamic autonomous control of bipedal walking
TL;DR: By means of PDAC, stable 3-dimensional walking based on the robot inherent dynamics is realized and the proposed passive dynamic autonomous control method is presented.
Book ChapterDOI
Multi-Locomotion Control of Biped Locomotion and Brachiation Robot
TL;DR: In this article, passive dynamic autonomous control (PDAC) is applied to a biped walk control, on the assumption that the sagittal and lateral motion can be separated and controlled individually, each motion is designed based on the given desired step length and period.
Proceedings ArticleDOI
Passive trajectory control of the lateral motion in bipedal walking
Masao Doi,Y. Hasegawa,T. Fukuda +2 more
TL;DR: This paper proposes passive trajectory control (PTC), a new control method of Acrobot, and discusses its application to biped walking robots.
Journal ArticleDOI
A new algorithm to maintain lateral stabilization during the running gait of a quadruped robot
I. Gonzalez-Luchena,Angel G. Gonzalez-Rodriguez,Antonio Gonzalez-Rodriguez,C. Adame-Sanchez,Fernando J. Castillo-Garcia +4 more
TL;DR: A new uncoupled controller which allows a quadrupedal robot, whose operation is simple and fast, to run using a symmetrical gait patterns in a wide variety of scenarios, and which can keep the locomotion parameters when a disturbance occurs during the running gait.
References
More filters
Book
Legged Robots That Balance
Marc H. Raibert,Ernest R. Tello +1 more
TL;DR: Legged Robots that Balance as discussed by the authors describes the study of physical machines that run and balance on just one leg, including analysis, computer simulation, and laboratory experiments, and reveals that control of such machines is not particularly difficult.
Journal ArticleDOI
On the stability properties of quadruped creeping gaits
Robert B. McGhee,Andrew A. Frank +1 more
TL;DR: In this paper, a mathematical analysis showed that for only three of the six possible quadruped crawl gaits, it is possible to place the feet of an animal or machine so that it is statically stable at all times.
Book
Machines That Walk: The Adaptive Suspension Vehicle
Shin-Min Song,Kenneth J. Waldron +1 more
TL;DR: The Adaptive Suspension Vehicle (ASV) described in this paper is a self-contained walking machine that can sprint at 8 mph and step over a 4-foot wall.
Journal ArticleDOI
A Study of Design and Control of a Quadruped Walking Vehicle
TL;DR: It is thus shown that a practical walking vehicle can be designed using the proposed method, and an algorithm for terrain-adaptive gait control is shown to be applicable for the control of future quadruped walking vehicles with visual sensors.