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http://dx.doi.org/10.5302/J.ICROS.2009.15.9.959

Discontinuous Zigzag Gait Control to Increase the Stability During Walking in Slope  

Park, Se-Hoon (재활공학연구소)
Lee, Yun-Jung (경북대학교 전자전기컴퓨터학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.15, no.9, 2009 , pp. 959-966 More about this Journal
Abstract
An essential consideration when analyzing the gait of walking robots is their ability to maintain stability during walking. Therefore, this study proposes a vertical waist-jointed walking robot and gait algorithm to increase the gait stability margin while walking on the slope. First, the energy stability margin is compared according to the posture of the walking motion on slope. Next, a vertical waist-jointed walking robot is modeled to analyze the stability margin in given assumption. We describe new parameters, joint angle and position of a vertical waist-joint to get COG (center of gravity of a body) in walking. Finally, we prove the superiority of the proposed gait algorithm using simulation and conclude the results.
Keywords
quadruped walking robot; vertical waist-joint; gait; discontinuous zigzag gait; slope;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By SCOPUS : 1
연도 인용수 순위
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