Journal
INTELLIGENT SERVICE ROBOTICS
Volume 2, Issue 2, Pages 105-112Publisher
SPRINGER HEIDELBERG
DOI: 10.1007/s11370-009-0038-7
Keywords
Gait planning; Dynamic stability; Quadruped robot
Categories
Ask authors/readers for more resources
In this article, the method for increasing dynamic stability of quadruped robot is proposed. Previous researches on dynamic walking of quadruped robots have used only walking pattern called central pattern generator (CPG). In this research, different from walking generation with only CPG, a instinctive stability measure called landing accordance ratio, is proposed and used for increasing dynamic stability. In addition, dynamic balance control and control to adjust walking trajectory for increasing dynamic stability measure is also proposed. Proposed methods are verified with dynamic simulation and a large number of experiments with quadruped robot platform.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available