Sciweavers

Share
AROBOTS
2002

Feedforward and Feedback Dynamic Trot Gait Control for Quadruped Walking Vehicle

9 years 11 months ago
Feedforward and Feedback Dynamic Trot Gait Control for Quadruped Walking Vehicle
Abstract. To realize dynamically stable walking for a quadruped walking robot, the combination of the trajectory planning of the body and leg position (feedforward control) and the adaptive control using sensory information (feedback control) is indispensable. In this paper, we propose a new body trajectory, the 3D sway compensation trajectory, for a stable trot gait; we show that this trajectory has a lower energy consumption than the conventional sway trajectory that we have proposed. Then, for the adaptive attitude control method during the 2leg supporting phase, we consider four methods, that is, a) rotation of body along the diagonal line between supporting feet, b) translation of body along the perpendicular line between supporting feet, c) vertical swing motion of recovering legs, and d) horizontal swing motion of recovering legs; we then describe how we verify the stabilization efficiency of each method through computer simulation, stabilization experimentation, and experimenti...
Ryo Kurazume, Kan Yoneda, Shigeo Hirose
Added 16 Dec 2010
Updated 16 Dec 2010
Type Journal
Year 2002
Where AROBOTS
Authors Ryo Kurazume, Kan Yoneda, Shigeo Hirose
Comments (0)
books