DocumentCode
233265
Title
Quadruped robot crawl gait planning based on DST
Author
Chen Binbin ; Li Shaoyuan ; Huang Dan
Author_Institution
Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China
fYear
2014
fDate
28-30 July 2014
Firstpage
8578
Lastpage
8582
Abstract
Quadruped robots are often in the state of dynamically stable. But in certain extreme circumstances, static stability is required in the locomotion of quadruped robots. Based on the DST(Double-Support Triangle) theory, this paper designed two kinds of COG(Center of Gravity) and swing leg tip trajectories with crawl gait, and proposed an optimized crawl gait using ZMP(Zero-Moment Point) stability criterion. The design and crawl gait planning ensures the static stability in quadruped robots´ locomotion, and it´s validated in Matlab and RecurDyn environment.
Keywords
gait analysis; legged locomotion; optimisation; path planning; stability criteria; COG; DST; Matlab; RecurDyn; ZMP stability criterion; center of gravity; double support triangle; dynamically stable state; optimized crawl gait; quadruped robot crawl gait planning; quadruped robot locomotion; static stability; swing leg tip trajectory; zero moment point; Hip; Legged locomotion; Planning; Robot kinematics; Stability criteria; Trajectory; Crawl Gait; DST; Static Stability; ZMP;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (CCC), 2014 33rd Chinese
Conference_Location
Nanjing
Type
conf
DOI
10.1109/ChiCC.2014.6896440
Filename
6896440
Link To Document