Gait planning and intelligent control for a quadruped robot
Baoping WANG
Renxi HU
Xiaodong ZHANG
Chuangfeng HUAI
摘要：We present a method for designing free gaits for a structurally symmetrical quadruped robot capable of performing statically stable, omnidirectional walking on irregular terrain. The robot's virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. The deliberative-based controller can generate flexible sequences of leg transferences while maintaining walking speed, and choose optimum foothold for moving leg based on integration data of exteroceptive terrain profile. Simulation results are presented to show the gait's efficiency and system's stability in adapting to an uncertain terrain.
机标关键词：robotterrainSimulation resultscontrol algorithmintegrationcontrollerbasedflexible
论文发表日期：2009-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：5( 207-211 )
英文信息