한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 1996년도 춘계학술대회 논문집
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- Pages.151-155
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- 1996
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- 2005-8446(pISSN)
4족 보행기의 경로계획에 따른 걸음걸이 선택
Gait Selection According to Trajectory Planning for Quadrupedal Walking Macine
초록
In this paper, the continuous motion of a quadrupedal walking machine was studied. The motion planning which is able a walking machine body to precisely follow a three-dimensional curve was developed. A three-dimensional curve was designed based on Bezier curve and obstacle avoidance considerations. Due to the arbitrary motion direction during walking, special strategies of gaits were developed to ensure positive stability. The gait strategies were based on wave and wave-crab gait.
키워드