Title :
Study on the control algorithm of the translational crawl for a quadruped robot
Author :
Chen, Xuedong ; Watanabe, Keigo ; Izumi, Kiyotaka
Author_Institution :
Fac. of Eng. Syst. & Technol., Saga Univ., Japan
Abstract :
The concept called the translational crawl of the quadruped robot is defined, a periodic gait of the translational crawl is described for the TITAN-VIII robot in a known environment. According to its simplified kinematic process, the robot can implement omnidirectional walking in a known environment by real-time control of the gait. The control algorithm of the gait is presented in detail. The effectiveness of the proposed approach is illustrated by giving simulation results
Keywords :
legged locomotion; matrix algebra; robot kinematics; stability; TITAN-VIII robot; control algorithm; known environment; omnidirectional walking; quadruped robot; real-time control; simplified kinematic process; translational crawl; Control engineering; Kinematics; Leg; Legged locomotion; Mechanical engineering; Mobile robots; Polynomials; Robot control; Robot vision systems; Systems engineering and theory;
Conference_Titel :
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-5731-0
DOI :
10.1109/ICSMC.1999.816682
