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An aperiodic Z type spinning gait planning method for a quadruped walking robot

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Abstract

Spinning gaits are used for altering the direction of body in a narrow space. Previous studies reveal thatz type leg-lifting sequence is suitable for spinning motion. In this paper, we focus on anz type aperiodic spinning gait for a quadruped walking robot. We proposed a condition of support pattern suitable for the aperiodicz type spinning motion. Based on the condition, we proposed an aperiodicz type spinning gait planning method. It is shown that spinning capability can be independent of required stability margin. A simulation shows that good spinning capability and good terrain adaptability are obtained.

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Authors and Affiliations

  1. Department of Precision Engineering and Mechatronics, School of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), 373-1 Kusong-dong, 305-701, Yusong-gu, Taejon, Korea

    Kyung-Min Jeong & Jun-Ho Oh

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  1. Kyung-Min Jeong
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  2. Jun-Ho Oh
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Jeong, KM., Oh, JH. An aperiodic Z type spinning gait planning method for a quadruped walking robot. Auton Robot 2, 163–173 (1995). https://doi.org/10.1007/BF00735433

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  • DOI: https://doi.org/10.1007/BF00735433

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