Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 21, Issue 2, Pages 152-161Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2004.835448
Keywords
crawl gait; omnidirectional walking; quadruped robot; rotation gait; static walking; successive gait transition
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In this paper, we propose a successive gait-transition method for a quadruped robot to realize omnidirectional static walking. The gait transition is successively performed among the crawl gaits and the rotation gaits, while the feet hold in common positions before and after gait transition. The gait-transition time is reduced by carefully designing the foot positions of the crawl gait and the rotation gait, while limiting the feet in rectangular reachable motion ranges. Computer simulations and experiments were executed to show the validity and the limitation of the proposed gait-transition method.
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