Title :
Realization of bounce gait in a quadruped robot with articular-joint-type legs
Author :
Furusho, Junji ; Sano, Akihito ; Sakaguchi, Masamichi ; Koizumi, Eichi
Author_Institution :
Univ. of Electro-Commun., Tokyo, Japan
Abstract :
The purpose of this study is to realize the bounce gait in articular-joint-type quadruped robots. We first develop a new robot which can realize bounce. A simulator is then made for the purpose of analyzing dynamic walking and efficiently developing its control methods. We formulate the leg-support-exchange phenomenon using Lagrangian impulsive equation. The control method is discussed, and the results of computer simulation are shown. Experimental results are also presented
Keywords :
control system synthesis; legged locomotion; mobile robots; robot dynamics; simulation; Lagrangian impulsive equation; articular-joint-type legs; bounce gait; computer simulation; dynamic walking; leg-support-exchange phenomenon; quadruped robot; Art; Control systems; Equations; Hydraulic actuators; Lagrangian functions; Leg; Legged locomotion; Oceans; Robots; Sea surface;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525365
