Title :
Omni-directional quadruped walking gaits and simulation for a gorilla robot
Author :
Fuhai, Zhang ; Weiguo, Wu ; Yuedong, Lang ; Bingyin, Ren
Author_Institution :
Dept. of Mechanism Design, Harbin Inst. of Technol., China
Abstract :
Gorilla robot is a new-type robot with multiple locomotion modes including biped walking, quadruped walking and brachiate locomotion. In comparison with conventional four-legged walking machines, the mechanism of the robot has particularity and complexity. In order to realize quadruped walking of the gorilla robot, we propose the gaits of forward walking, sideways walking, translational walking and turning walking, respectively. The results of simulation show that these gaits are feasible and efficient.
Keywords :
gait analysis; legged locomotion; motion control; biped walking; brachiate locomotion; forward walking gait; four-legged walking machine; gorilla robot; multiple locomotion mode; omnidirectional quadruped walking gait; sideway walking; translational walking; turning walking; Batteries; Character generation; Humanoid robots; Leg; Legged locomotion; Manipulators; Mobile robots; Motion control; Stability; Turning; gait; gorilla robot; omni-directional; quadruped walking;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545290
