DocumentCode
3191795
Title
Gait Planning Of Quadruped Robot Based On Third-Order Spline Interpolation
Author
Dong, Hao ; Zhao, Mingguo ; Zhang, Ji ; Shi, Zongying ; Zhang, Naiyao
Author_Institution
Dept. of Autom., Tsinghua Univ., Beijing
fYear
2006
fDate
9-15 Oct. 2006
Firstpage
5756
Lastpage
5761
Abstract
This paper presented a brief description for the gait planning of quadruped robot named Aibo ERS-7 which is a standard platform in the RoboCup 4-legged league. We approach a spline shaped locus to reduce the dimension of the parameter optimizing space and solve the problem of the significant bias between the planned locus and the real one. The result shows that the spline shaped locus is effective in finding the optimized locus shape in a short time. Finally, the robot achieves a gait faster than any previously known learned gait for Aibo
Keywords
interpolation; legged locomotion; motion control; multi-robot systems; splines (mathematics); Aibo ERS-7; RoboCup 4-legged league; gait planning; quadruped robot; third-order spline interpolation; Force feedback; Intelligent robots; Interpolation; Kinematics; Legged locomotion; Motion planning; Orbital robotics; Shape; Spline; Stability; Gait Planning; Quadruped Robot; RoboCup; Third-order Spline;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location
Beijing
Print_ISBN
1-4244-0258-1
Electronic_ISBN
1-4244-0259-X
Type
conf
DOI
10.1109/IROS.2006.282459
Filename
4059351
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