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http://dx.doi.org/10.5302/J.ICROS.2002.8.2.142

Zigzag Gait Planning of n Quadruped Walking Robot Using Geometric Search Method  

Park, Se-Hoon (Dept.of Electronics Engineering, Kyungpook National University)
Lee, Seung-Ha (Dept.of Electronics Engineering, Kyungpook National University)
Lee, Yun-Jung (Dept.of Electronics Engineering, Kyungpook National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.8, no.2, 2002 , pp. 142-150 More about this Journal
Abstract
This paper presents a systematic method of the zigzag gait planning for quadruped walking robots. When a robot walks with a zigzag gait, its body is allowed to move from side to side, while the body movement is restricted along a moving direction in conventional continuous gaits. The zigzag movement of the body is effective to improve the gait stability margin. To plan a zigzag gait in a systematic way, the relationship between the center of gravity(COG) and the stability margin is firstly investigated. Then, new geometrical method is introduced to plan a sequence of the body movement which guarantees a maximum stability margin as well as monotonicity along a moving direction. Finally, an optimal swing-leg sequence is chosen for a given arbitrary configuration of the robot. To verify the proposed method, computer simulations have been performed for both cases of a periodic gait and a non-periodic gait.
Keywords
zigzag gait planning; geometrical method; optimal-swing leg sequence; monotonicity;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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