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http://dx.doi.org/10.13067/JKIECS.2015.10.3.395

An Efficient Stair Locomotion Method of Quadruped Robot with Mechanism of Insectile Leg  

Byun, Jae-Oh (경기대학교 전자공학과)
Choi, Yoon-Ho (경기대학교 전자공학과)
Publication Information
The Journal of the Korea institute of electronic communication sciences / v.10, no.3, 2015 , pp. 395-402 More about this Journal
Abstract
In this paper, we propose an efficient gait trajectory generation method for the static stair climbing of a quadruped robot with mechanism of insectile legs, which has no collision with staris. First, we derive the kinematic and inverse models of a quadruped robot using the algebraic and geometrical methods, respectively. In the proposed method, we generate the stair locomotion trajectory of a sine wave after lifting a leg from the start position, and then determine the coefficient of the generated trajectory to avoid the collision with stairs. In addition, we make the gait sequence for the stable stair locomotion. Finally, we verify the effectiveness and applicability of the proposed stair locomotion method through computer simulations.
Keywords
Quadruped Robot; Stair Climbing; Gait Trajectory; Insectile Leg; Wave Gait;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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