Gait planning and intelligent control for a quadruped robot
Purchase on Springer.com
$39.95 / €34.95 / £29.95*
Rent the article at a discountRent now
* Final gross prices may vary according to local VAT.
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.
- S. Hirose, Y. Fukuda, H. Kikuchi. The gait control system of a quadruped walking vehicle[J]. Advanced Robotics, 1986, 1(4): 289–323.
- S. Hirose, H. Kikuchi, Y. Umetani. Standard circular gait of a quadruped walking vehicle[J]. Advanced Robotics, 1986, 1(2): 143–164. CrossRef
- D. P. Wong, D. E. Orin. Control of a quadruped standing jump over irregular terrain obstacles[J]. Autonomous Robots, 1995, 1(2): 111–129. CrossRef
- D. L. Jindrich, R. J. Full. Many-legged maneuver-ability: Dynamics of turning in hexapods[J]. The Journal of Experimental Biology, 1999, 202(12): 1603–1623.
- Y. Fukuoka, H. Kimura, Y. Hada, et al. Adaptive dynamic walking of a quadruped robot ‘Tekken’ on irregular terrain using a neural system model[C]//IEEE/RSJ International Conference on Robotics and Automation. Piscataway: IEEE Press, 2003: 2037–2042.
- H. Tsukakoshi, S. Hirose. The proposal of the intermittent crawl gait and its generation[J]. Robotics Society of Japan, 1997, 17(2): 301–309.
- A. Konno, K. Ogasawara, Y. Hwang, et al. An adaptive gait for quadruped robots to walk on a slope[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway: IEEE Press, 2003: 589–594.
- S. Ma, T. Tomiyama, H. Wada. Omni-directional walking of a quadruped robot[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway: IEEE Press, 2002: 2605–2612.
- L. Zhang, S. Ma, Y. Honda, et al. Omni-directional walking of a Quadruped Robot on a Slope[C]//IEEE International Conference on Robotics and Biomimetics. Piscataway: IEEE Press, 2004: 268–273. CrossRef
- S. Bai, K. H. Low, T. Zielinska. Quadruped free gait generation based on the primary/secondary gait[J]. Robotica, 1999, 17(4): 405–412. CrossRef
- J. Estremera, P. G. Santos. Generating continuous free crab gaits for quadruped robots on irregular terrain[J]. IEEE Transactions on Robotics, 2005, 21(6): 1067–1076. CrossRef
- D. W. Corne, K. Deb, P. J. Fleming, et al. The good of the many outweighs the good of the one: Evolutionary multi-objective optimization[J]. IEEE Transactions on Connections Newsletter, 2003, 1(1): 9–13.
- 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