Transactions on Control, Automation and Systems Engineering

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Analysis on Regular Rotational Gait of a Quadruped Walking Robot

  • Kim, Whee-Kuk (Department of Control and Instrumenttation Engineering, Korea University) ;
  • Whang Cho (Department of Information and Control Kwangwoon University) ;
  • Yi, Byung-Ju (School of Electrical Engineering and Computer Science Hanyang University)
  • Published : 2002.06.01
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Abstract

In this paper, the regular rotational gaits of the quadruped crawling robot are studied. It is assumed that the proposed regular rotational gaits starts from one of six support patterns in a translational gaits and end up with one of six support patterns in a translational gaits. Noting that six support patterns in a regular translational gait belong to two different groups with respect to regular rotational gait, the static stability margin and the maximum rotational displacement during one rotational stride period for the two representative support patterns are investigated. It is expected that the proposed regular rotational gaits will enhance the omni-directional characteristics of the quadruped crawling robot.

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References

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