Straight Walking and Stair Climbing Gait of Quadruped Robot Based on Static Balance

ROBOT ◽  
2010 ◽  
Vol 32 (2) ◽  
pp. 226-232 ◽  
Author(s):  
Bo HUANG ◽  
Jianwen ZHAO ◽  
Lining SUN
Keyword(s):  
Quadruped Robot ◽  
Stair Climbing ◽  
Static Balance

scholarly journals A Bio-Inspired Implementation of Walking and Stair Climbing on a Quadruped Robot

2018 ◽  
Vol 143 ◽  
pp. 671-677 ◽  
Author(s):  
Anurag Narayan Sarmah ◽  
Abhijit Boruah ◽  
Daisy Kalita ◽  
Darshana Neog ◽  
Saumay Paul
Keyword(s):  
Quadruped Robot ◽  
Stair Climbing

scholarly journals Stair Climbing in a Quadruped Robot

2012 ◽  
Vol 2 (1) ◽  
pp. 11-20 ◽  
Author(s):  
Shen-Chiang Chen ◽  
Chih-Chung Ko ◽  
Cheng-Hsin Li ◽  
Pei-Chun Lin
Keyword(s):  
Quadruped Robot ◽  
Stair Climbing

Quadruped Robot Omni-Directional Walking on a Slope Based on Static Balance

2012 ◽  
Vol 591-593 ◽  
pp. 1436-1440
Author(s):  
Wen Yu Zhang ◽  
Lei Zhang
Keyword(s):  
Computer Simulation ◽  
Structural Stability ◽  
Stability Criterion ◽  
Quadruped Robot ◽  
Static Balance ◽  
Gait Transition ◽  
Uneven Terrain ◽  
Transition Problem ◽  
Walking Environment ◽  
The Stability

Quadruped robot is widely developed on the basis of bionic technology and has good structural stability and flexibility in uneven terrain. It is required of the quadruped robot to keep static balance while transportation task is executed. In this paper, first, the unstable problems during static walking on a slope have been analyzed in detail, and the stability criterion which considering affections of slope walking environment has been proposed. Based on static balance, the falling over problem and tumbling around the line connecting two support feet during gait transition problem have been solved. The gaits are planned to ensure omni-directional stable walking on a slope. Through walking experiments by computer simulation, the validity of the proposed method has been verified.

Gait Planning of Quadruped Robot Walking on a Slope Based on Static Balance

2013 ◽  
Vol 373-375 ◽  
pp. 282-286 ◽  
Author(s):  
Wen Yu Zhang ◽  
Lei Zhang
Keyword(s):  
Center Of Pressure ◽  
Quadruped Robot ◽  
Joint Torque ◽  
Static Balance ◽  
Gait Transition ◽  
Gait Planning ◽  
Motion Speed ◽  
Walking Environment ◽  
Movement Parameters ◽  
The Stability

Gait planning affects stability, motion speed, and joint torque of quadruped robot etc. Also, it is necessary to consider movement parameters of slope walking environment such as the inclination angle, the movement area of feet and so on. The stability criterion on the basis of center of pressure is chosen to analyze the stability during the movement. Based on static balance, the omni-directional walking of quadruped robot on a slope is planned. CFP is set in order to reduce the transition steps. Then the start and end positions of swinging leg and supporting leg is calculated. The process of gait transition is planned to make sure stable and continuous movement. The experiment verifies the validity of the proposed method.

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