• Proceedings of the KSME Conference
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• 2001.06b
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• pp.301-306
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• 2001

In this paper, we developed a quadruped walking robot, FRAMIX-T, with insectile leg mechanism and we inspected the efficiency of it in detail. In robotics, the legs of insect type are appropriate for the stability and the agile movement. So we first performed a gait analysis using duty factor, stride, phase etc., and analyzed the stability margin to improve the stability of robot. On the basis of this research, we planned the wave gait suitable for FRAMIX-T and performed a walking experiment. From this result, we proved the high efficiency using insectile leg mechanism and the possibility of walking with improved stability and mobility.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.3
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• pp.395-402
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• 2015

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.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.9
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• pp.1039-1048
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• 2015

In this paper, we propose an efficient stair locomotion method for a quadruped robot with mechanism of insectile legs using genetic algorithm(GA). In the proposed method, we first define the factors and the reachable region for the stair locomotion. In addition, we set the gene and the fitness function for GA and generate the gait trajectory by searching the landing position of a quadruped robot, which has the minimun distance of movement and the optimal energy stability margin(ESM). Finally, we verify the effectiveness and superiority of the proposed stair locomotion method through the computer simulations.