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ROBOCUP
2005
Springer

Reliable and Precise Gait Modeling for a Quadruped Robot

10 years 5 months ago
Reliable and Precise Gait Modeling for a Quadruped Robot
We present a parametric walk model for a four-legged robot. The walk model is improved using a genetic algorithm, but unlike previous approaches, the fitness is determined in a run that closely resembles the later application. We thus not only achieve high speeds, but also a high degree of flexibility. In addition to the walking model being flexible, we present a means of automatically calibrating the walking engine. This allows for highly precise robot control and greatly improved odometry accuracy. Lastly, we show how the motion model can be extended to integrate specialized motions to further increase locomotion speed without compromising flexibility.
Uwe Düffert, Jan Hoffmann
Added 28 Jun 2010
Updated 28 Jun 2010
Type Conference
Year 2005
Where ROBOCUP
Authors Uwe Düffert, Jan Hoffmann
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