Intelligent Service Robotics

, Volume 2, Issue 2, pp 105–112 | Cite as

Gait planning for quadruped robot based on dynamic stability: landing accordance ratio

Original Research Paper

Abstract

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.

Keywords

Gait planning Dynamic stability Quadruped robot 

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Copyright information

© Springer-Verlag 2009

Authors and Affiliations

  1. 1.Robotics LaboratoryPohang University of Science and Technology (POSTECH)PohangKorea
  2. 2.Pohang Institute of Intelligent RoboticsPohangKorea

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