Gait planning and intelligent control for a quadruped robot
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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.
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- Gait planning and intelligent control for a quadruped robot
Journal of Control Theory and Applications
Volume 7, Issue 2 , pp 207-211
- Cover Date
- Print ISSN
- Online ISSN
- Editorial Board of Control Theory and Applications
- Additional Links
- Structural symmetry
- Quadruped robot
- Gait planning
- Intelligent control
- Virtual model
- Author Affiliations
- 1. Department of Mechanical and Electronic Engineering, Guangdong Baiyun University, Guangzhou, Guangdong, 510450, China
- 2. Department of Basic Courses, Ordnance Engineering College, Shijiazhuang, Hebei, 050003, China
- 3. School of Mechanical and Electronic Control Engineering, Beijing Jiaotong University, Beijing, 100044, China