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Quadruped Walking

  • Toshio Fukuda
  • Yasuhisa Hasegawa
  • Kosuke Sekiyama
  • Tadayoshi Aoyama
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 81)

Abstract

Keeping static stability is necessary condition in order to realize a crawl gait. Thus, a torso is moved so that center of gravity (COG) exists in the support polygon formed by support legs. Y-coordinate of the landing position of each leg is set as constant in the Cartesian coordinate system fixed on a ground as shown in Fig. 5.1. The Y axis of the COG motion is moved as a function of sin, and the X axis of the COG motion is move so that the velocity of COG is 0 when COG cross the segment of the support polygon. There are two times when the velocity of the X axis is 0 in one walking cycle.

Keywords

Slope Angle Stride Length Joint Torque Static Torque Support Polygon 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Toshio Fukuda
    • 1
  • Yasuhisa Hasegawa
    • 2
  • Kosuke Sekiyama
    • 1
  • Tadayoshi Aoyama
    • 3
  1. 1.Department of Micro-Nano Systems EngineeringNagoya UniversityNagoyaJapan
  2. 2.Department of Information Interaction TechnologiesUniversity of TsukubaTsukuba-cityJapan
  3. 3.Department of System CyberneticsHiroshima UniversityHigashiJapan

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