Title :
Improving the stability of gait planning for quadruped robots
Author :
Payandeh, Sharokh ; Majd, Vahid Johari ; Shoili, Sadegh Moradi ; Moghaddam, Majid Mohamadi
Author_Institution :
Dept. of Electr. Eng., Tarbiat Modares Univ., Tehran, Iran
Abstract :
In this paper the stability of gait planning for the quadruped robot in flat surface is considered, and the effects of planning parameters on the stability of the robot have been examined. Continuous trajectory for the body in forward direction has been derived. The study demonstrates that adding periodic longitudinal (PLON) body motion back and forth and periodic lateral (PLAT) body motion left and right improved the stability margin. Finally this approaches were tested on the TMUBot quadruped, and the results show significant improvement in the robot.
Keywords :
gait analysis; legged locomotion; stability; PLAT body motion; PLON body motion; TMUBot quadruped; flat surface; forward direction; gait planning stability; periodic lateral body motion; periodic longitudinal body motion; quadruped robots; stability margin; Joints; Legged locomotion; Planning; Stability criteria; Trajectory; Gait planning; Kinematics; Static stability; Trajectory planning;
Conference_Titel :
Robotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on
Conference_Location :
Tehran
DOI :
10.1109/ICRoM.2014.6990931
