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http://dx.doi.org/10.5391/JKIIS.2012.22.3.305

Gait Generation for Quadruped Robots Using Body Sways  

Jung, Hak-Sang (전자부품연구원 지능로보틱스 연구센터)
Kim, Guk-Hwa (경기대학교 전자공학과)
Choi, Yoon-Ho (경기대학교 전자공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.22, no.3, 2012 , pp. 305-311 More about this Journal
Abstract
In this paper, we propose a gait generation method for quadruped robots using the xz-axis sway of the quadruped robot, which minimizes the shake of the quadruped robot and maximizes the stability margin. In the proposed method, the gait is generated based on wave gaits and the stability analysis uses the body tilt information of the quadruped robot according to the leg's height of leg. In addition, to reduce the impact on the body caused by the z-axis sway while walking, the proposed method generates the smooth walking movement trajectory with less impact by using Fourier series. Finally, to verify the applicability and effectiveness of the proposed method, we carry out the computer simulations and the real walking experiments with the implemented quadruped robot.
Keywords
Quadruped Robot; Tilt; Stability; Gait Generation; Sway;
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