DocumentCode
233267
Title
Quadruped robot gait planning with stair environment constraints
Author
Wang Zhanhao ; Huang Dan ; Li Ning ; Li Shaoyuan
Author_Institution
Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China
fYear
2014
fDate
28-30 July 2014
Firstpage
8583
Lastpage
8588
Abstract
This paper is mainly about quadruped robot gait planning with stair environment constraints, where the environment constraints are mainly embodied in the form of robot gait planning constraints and robot stair traversing feasibility, etc., and the problem of quadruped robot gait planning can be solved theoretically with Stair-Aimed-SSG (Static Stable Gait). The feasibility of this scheme is proved by Matlab and RecurDyn simulation.
Keywords
gait analysis; mobile robots; path planning; Matlab; RecurDyn simulation; quadruped robot gait planning; robot stair traversing feasibility; stair environment constraints; stair-aimed-SSG; static stable gait; Foot; Joints; Legged locomotion; Periodic structures; Planning; Trajectory; Quadruped Robot; Stair Environment Constraints; Stair-Aimed-SSG;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (CCC), 2014 33rd Chinese
Conference_Location
Nanjing
Type
conf
DOI
10.1109/ChiCC.2014.6896441
Filename
6896441
Link To Document