Browse > Article
http://dx.doi.org/10.9709/JKSS.2011.20.1.051

Locomotion of Dog-like Quadruped Robots: Walk and Trot  

Lim, Seung-Chul (명지대학교 기계공학과)
Kim, Kwang-Han (명지대학교 기계공학과)
Publication Information
Journal of the Korea Society for Simulation / v.20, no.1, 2011 , pp. 51-59 More about this Journal
Abstract
This paper is concerned with locomotion of dog-like quadruped robots that can adapt to various terrains, mainly dealing with implementation methods and characteristics of static and dynamic gaits. To this end, a 12-DOF robot is built in house, motional trajectories of its body and feet are generated mimicking biological life, and the corresponding leg joint angles are analytically obtained by inverse kinematics. Such joint angle data are then applied to the robot's ADAMS model for computer simulations so that the planned walk and trot gaits are both confirmed dynamically stable. However, contrary to the simulation results, previous trot patterns showed unstable behavior during experiments. This problem led us to analyze the reason, and in the course we discovered the importance of maximally utilizing the concept of WSM rather than ZMP and therefore reducing the gait period to secure the stability of dynamic gaits such as trot.
Keywords
Kinematics; Dynamic Stability; ZMP(Zero Moment Point); WSM(Wide Stability Margin);
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 S. Lim and I. Ko, "Development and application of a ZMP sensor system," Proceedings of KSME Spring Conf., pp. 1376-1381, 2005.
2 M. Vukobratovic, B. Borovac, D. Surla, and D. Stokic, Scientific fundamentals of robotics 7: biped locomotion, Springer-Verlag. 1990.
3 S. Lim and I. Ko, "Locomotions of a biped robot: static vs. dynamic gaits," Trans. of KSME(A), vol. 30, no. 6. 2006.
4 ADAMS, http://www.mscsoftware.com
5 D. Yoon, AVR ATmega 128, Ohm, 2006.
6 K. Kato and S. Hirose, "Development of quadruped walking robot, TITAN-IX - mechanical design concept and application for the humanitarian demining robot," Advanced Robotics, vol. 15, no. 2, pp. 191-204, 2001.   DOI   ScienceOn
7 H. Kimura, Y. Fukuoka, and A.H. Cohen, "Adaptive dynamic walking of a quadruped robot on natural ground based on biological concepts," Int. J. of Robotics Research, vol. 26, no. 5, pp. 475-490, 2007.   DOI   ScienceOn
8 J.J. Craig, Introduction to robotics - mechanics and control, 3rd Ed., Prentice Hall, 2005.
9 D.J. Tood, Walking machines: an introduction to legged robots, Kogan Page Ltd., 1985.
10 Bigdog, http://www.bostondynamics.com
11 D.M. Nunamaker and P.D. Blauner, "Normal and abnormal gait," Proceedings of Int. Veterinary Information Service, 1985.
12 R.B. McGhee and A.A. Frank, "On the stability properties of quadruped creeping gaits," J. Mathematical Biosciences, vol. 3, pp. 331-351, 1968.   DOI