Motion Coordination Strategy of Quadruped Robot Inspired by the Locomotion of Animal
Motion coordination is one of the key technologies that affect the stability and efficiency of robot. Animals’ motion must have the advantages reserved from long time’s evolution, which offers good prototypes for the control of robot. In this paper, the locomotion of quadruped animal, gecko, was observed when trotting on the level, and the trajectories of feet relative to the hip on the same side were analyzed. Results showed that the speed of feet on stance phase relative to the hips were the same, feet accomplished the change of moving direction and speed during transition process between stance and swing phases. This approach was simulated in a robot mode and used in trajectory plan of a quadruped sprawling robot.
KeywordsMotion coordination Robot Kinematical chain Trajectory
The project is supported by the National Program on Key Basic Research Project (2011CB302106), Foundation of Nanjing University of Aeronautics and Astronautics (4015-56YAH11017), Projects of International Cooperation and Exchanges NSFC (60910007) and Chinese NSFC (51175249, 61175105, 51105201).
- 2.Manter JT (1938) The dynamics of quadrupedal walking. J Exp Biol 15:522–540Google Scholar
- 4.JA, Vilensky, Patrick, MC (1984) Inter and intratrial variation in cat locomotor behavior. Physiol Behav 33:733–43Google Scholar
- 5.English AW (1979) Interlimb coordination during stepping in the cat: an electromyographic analysis. J Neurophysiol 42:229–243Google Scholar
- 7.Raibert MH (1986) Running with symmetry. IJRR 5:3–19Google Scholar
- 8.Raibert, MH(1986) Legged robots that balance. MIT Press, CambridgeGoogle Scholar
- 9.Raibert, M, Chepponis, M, Brown, HBJ (1986) Running on four legs as though they were one. IJRA. RA-2, 70–82Google Scholar
- 10.Won, M, Kang, T, Chung, WK (2008) Dynamical balancing control for stable walking of quadruped robot. In: 5th international conference on ubiquitous robots and ambient intelligence, 769–773Google Scholar
- 11.Raibert, M, Blankespoor, K, Nelson, G, Playter, R,Team, tB (2008) BigDog, the rough-terrain quadruped robot. In: Proceedings of the 17th world congress the international federation of automatic control, 10822–10825Google Scholar
- 12.Buehler, M, Playter, R, Raibert, M (2005) Robots step outside. In: Internal symposium on adaptive motion of animals and machinesGoogle Scholar
- 14.Bhushan, B, Sayer, RA (2008) gecko feet: natural attachment systems for smart adhesion-mechanism, modeling, and development of bio-inspired materials. In: Bhushan, B, Tomitori, M, Fuchs, H (eds) Applied scanning probe methods X. Springer, Berlin, 1–61Google Scholar
- 16.Li H, Dai Z, Shi A, Zhang H, Sun J (2009) Angular observation of joints of geckos moving on horizontal and vertical surfaces. ChSBu 54:592–598Google Scholar