Omnidirectional static walking of a quadruped robot
Authors:
- T. TomiyamaTTT. Tomiyama
- H. WadaHWH. Wada
- 11 April 2005
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics
- Vol. 21 (2) , 152-161
Abstract
In this paper, we propose a successive gait-transition method for a quadruped robot to realize omnidirectional static walking. The gait transition is successively performed among the crawl gaits and the rotation gaits, while the feet hold in common positions before and after gait transition. The gait-transition time is reduced by carefully designing the foot positions of the crawl gait and the rotation gait, while limiting the feet in rectangular reachable motion ranges. Computer simulations and experiments were executed to show the validity and the limitation of the proposed gait-transition method.Keywords
This publication has 13 references indexed in Scilit:
- Towards efficient implementation of quadruped gaits with duty factor of 0.752003
- Development of quadruped walking robot TITAN-VIII2002
- New insights into quasi-static and dynamic omnidirectional quadrupedal walking2002
- Semi-Autonomous Walking Based on Leg Transition at the Border of the Leg Work Space.Journal of the Robotics Society of Japan, 1998
- Generalized Standard Foot Trajectory for a Quadruped Walking VehicleThe International Journal of Robotics Research, 1991
- The standing posture transformation gait of a quadruped walking vehicleAdvanced Robotics, 1987
- The gait control system of a quadruped walking vehicleAdvanced Robotics, 1986
- The standard circular gait of a quadruped walking vehicleAdvanced Robotics, 1986
- Resolved Motion Rate Control of Manipulators and Human ProsthesesIEEE Transactions on Systems, Man, and Cybernetics: Systems, IEEE Transactions on Cybernetics, and IEEE Transactions on Human-Machine Systems, 1969
- On the stability properties of quadruped creeping gaitsMathematical Biosciences, 1968