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http://dx.doi.org/10.5302/J.ICROS.2009.15.6.626

Walking Motion Planning for Quadruped Pet Robot  

Yi, Soo-Yeong (서울산업대학교 전기공학과)
Choi, Dae-Sung ((주) 다사로봇)
Choi, Byoung-Wook (서울산업대학교 전기공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.15, no.6, 2009 , pp. 626-633 More about this Journal
Abstract
A motion planning algorithm is presented in this paper for a commercialized quadruped walking of robot pet. Stable walking is the basic requirement for a commercial-purpose legged robot. In order to secure the walking stability, modified body sway to the centroid of support polygon is addressed. By representation of walking motion with respect to the world coordinate system rather than body coordinate, it is possible to design the several gaits in unified fashion. The initial gait posture is introduced to maximize the stride and to achieve fast walking. The proposed walking motion planning is verified through computer simulation and experiments.
Keywords
quadruped; walking; planning; initial posture; inter-sampling;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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