Gait design and stable control for a symmetrical four-legged robot on irregular terrain

Author

Huai, Chuangfeng ; Fang, Yuefa ; Zhang, Ketao

Author_Institution

Dept. of Mech. & Electron. Control Eng., Beijing Jiaotong Univ., Beijing

fYear

2008

fDate

25-27 June 2008

Firstpage

7460

Lastpage

7465

Abstract

We Presents a method for designing free gaits for structural symmetrical four-legged robot capable of performing statically stable, omnidirectional walking on irregular terrain. Robotpsila s virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. The deliberative-based controller can generate flexible sequences of leg transferences while maintaining walking speed, and choose optimums foothold for transfer leg based on integration data of exteroceptive terrain profile. Simulation results are presented to show the gaitpsila s efficiency and systempsilas stability in adapting to an irregular terrain.

Keywords

legged locomotion; stability; symmetry; deliberative-based controller; exteroceptive terrain profile; gait design; irregular terrain; omnidirectional walking; optimums foothold; stable control; structural symmetrical four-legged robot virtual model; virtual component; Biological system modeling; Foot; Intelligent robots; Leg; Legged locomotion; Mobile robots; Robot kinematics; Robotics and automation; Stability; Vehicle dynamics; Four-legged robot; Gait Design; Stable control; Structural symmetrical; Virtual model;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Conference_Location

Chongqing

Print_ISBN

978-1-4244-2113-8

Electronic_ISBN

978-1-4244-2114-5

Type

conf

DOI

10.1109/WCICA.2008.4594082

Filename

4594082