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Static Gait Generation of Quadruped Walking Robot  

Kim, Nam-Woong (서울대학교 기계항공공학부 대학원)
Sin, Hyo-Chol (서울대학교 기계항공공학부)
Kim, Kug-Weon (순천향대학교 기계공학과)
Publication Information
Transactions of the Korean Society of Machine Tool Engineers / v.16, no.6, 2007 , pp. 217-222 More about this Journal
Abstract
This paper describes a static gait generation process and a mechanical design process of leg mechanisms for quadruped robots. Actually robot walking is realized with the joint motion of leg mechanisms. In order to calculate the time-angle trajectories for each joint of leg mechanisms, we generate end-tip trajectories with time for each leg in the global inertial coordinate system intuitively, followed by coordinate transformations of the trajectories into the local coordinates system fixed in each leg, finally the angle-time trajectories of each joint of leg mechanisms are obtained with inverse kinematics. The stability of the gait generated in this paper was verified by a multi-body dynamic analysis using the commercial software $ADAMS^{(R)}$. Additionally the mechanical specifications such as gear reduction ratio, electrical specifications of motor and electrical power consumption during walking have been confirmed by the multi-body dynamic analysis. Finally we constructed a small quadruped robot and confirmed the gait.
Keywords
Quadruped walking robot; Gait generation; Static Gait; Dynamic Analysis;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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