Title :
Autonomous gait generation using acceleration capability analysis
Author :
Harmeyer, Sean ; Bowling, Alan
Author_Institution :
Dept. of Aerosp. & Mech. Eng., Notre Dame Univ., IN, USA
Abstract :
This paper presents a novel gait generation technique for legged robotic systems which utilizes the dynamic capability equations. The method consists of calculating the acceleration capability early in the simulation to determine a specific configuration which easily allows a gait to be generated. This position is calculated to most effectively arrest any body center-of-mass momentum upon impact and allows the system to continue travelling in the desired direction without suffering detrimental effects from the impulse forces normally encountered when walking.
Keywords :
acceleration; legged locomotion; position control; robot dynamics; acceleration capability analysis; autonomous gait generation; center-of-mass momentum; dynamic capability equation; impulse force; legged robotic system; Acceleration; Aerodynamics; Aerospace engineering; Equations; Laboratories; Leg; Legged locomotion; Performance analysis; Robots; Stability;
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.2005.1545291
