Proceedings ArticleDOI
Study of quadruped walking robot climbing and walking down slope
Junmin Pan,Junshi Cheng +1 more
- pp 1531-1534
TLDR
An experimental study of climbing and walking down a slope by the JTUWM-II quadruped robot and an algorithm for the body to turn parallel with the sloping surface is developed.Abstract:
Presents an experimental study of climbing and walking down a slope by the JTUWM-II quadruped robot. A scheme by which the walking robot detects the slope and measures the gradient of the slope with tactile sensors is proposed. An algorithm for the body to turn parallel with the sloping surface is developed. In the transition area gait adjustment is made for stable walking. Also the maximum gradient of the slope for the robot and the optimum body height are given. >read more
Citations
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Patent
Ambulation control apparatus and ambulation control method of robot
TL;DR: In this paper, the stability of attitude of a robot can be recovered by an ambulation control apparatus and a method if it is lost in the course of a gesture for which the upper limbs take a major role.
Proceedings ArticleDOI
Dynamic trotting on slopes for quadrupedal robots
Christian Gehring,C. Dario Bellicoso,Stelian Coros,Michael Bloesch,Peter Fankhauser,Marco Hutter,Roland Siegwart +6 more
TL;DR: In this paper, a method for estimating the parameters of the terrain quadrupedal robots move on, in the face of limited perception capabilities and drifting robot pose estimates, is proposed.
Journal ArticleDOI
An ART-based fuzzy controller for the adaptive navigation of a quadruped robot
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Proceedings ArticleDOI
Gait Planning of Quadruped Walking and Climbing Robot for Locomotion in 3D Environment
TL;DR: A practical gait planning algorithm in the transition region of the boundary is proposed in terms of a geometrical view to negotiate the boundary of two plain surfaces such as corners.
Journal ArticleDOI
A Real-Time Kinematics on the Translational Crawl Motion of a Quadruped Robot
TL;DR: 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 and the formulation can be used for the real-time control of the robot.
References
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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.