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http://dx.doi.org/10.5391/JKIIS.2013.23.5.466

An Efficient Gait Generation Method for Quadruped Robot with Waist Joints  

Kim, Dong Sub (Department of Electronic Engineering, Kyonggi University)
Choi, Yoon Ho (Department of Electronic Engineering, Kyonggi University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.23, no.5, 2013 , pp. 466-472 More about this Journal
Abstract
In this paper, we propose a gait generation method for a quadruped robot using the waist joints which can minimize the body shake during the locomotion. In this proposed method, we first calculate the hip coordinate of tilted body using the geometrical model of a quadruped robot, and then move the CoG(Center of Gravity) of a quadruped robot using 2-DOF waist joints to minimizes the body shake. In addition, the gait of a quadruped robot is generated based on the wave gait method. Finally, we verify the effectiveness of the proposed method by comparing with that of the previous method through the computer simulations.
Keywords
CoG(Center of Gravity); Waist joint; Quadruped robot; Locomotion; Sway;
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Times Cited By KSCI : 5  (Citation Analysis)
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