DocumentCode
1920892
Title
Optimal gaits generation of a 4-legged walking robot
Author
Alasty, Aria ; Borujeni, Bayandor Sadeghian
Author_Institution
Dept. of Mech. Eng., Sharif Univ. of Technol., Tehran, Iran
Volume
1
fYear
2003
fDate
23-25 June 2003
Firstpage
664
Abstract
A novel Locomotion and gait planning method for a surface walking/climbing robot based on sequential 4-bar mechanism motions is presented. The robot moves on a surface through decoupled transverse gaits and turning gaits with desired length and angle. For implementation of turning gaits three methods of simulated annealing accurate planning, gradient based planning and hybrid accurate planning, are studied. Where the last method was found the most effective approach.
Keywords
gait analysis; legged locomotion; motion control; path planning; robot kinematics; simulated annealing; climbing robot; four bar mechanism motions; gait planning; gradient based planning; hybrid accurate planning; legged locomotion; simulated annealing; walking robot; Buildings; Climbing robots; DC motors; Leg; Legged locomotion; Marine vehicles; Motion planning; Optimization methods; Simulated annealing; Turning;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on
Print_ISBN
0-7803-7729-X
Type
conf
DOI
10.1109/CCA.2003.1223516
Filename
1223516
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