Title :
Omni-directional Walking of a Quadruped Robot on a Slope
Author :
Zhang, Lei ; Ma, Shugen ; Honda, Yoshinori ; Inoue, Kousuke
Author_Institution :
Dept. of Syst. Eng., Ibaraki Univ.
Abstract :
In this study, we discuss omni-directional walking of a quadruped robot to walk on a slope. A method for successive gait-transition on a slope with specified body posture is introduced. Using this method, a trade-off between the moving speed and the body posture has been verified. Simulations and experiments showed that the proposed method for stable slope walking of a quadruped robot is valid
Keywords :
gait analysis; legged locomotion; stability; gait-transition; omni-directional walking; quadruped robot; slope walking; Computer simulation; Foot; Gravity; Laboratories; Leg; Legged locomotion; Modeling; Robot kinematics; Robotics and automation; Systems engineering and theory;
Conference_Titel :
Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on
Conference_Location :
Shenyang
Print_ISBN :
0-7803-8614-8
DOI :
10.1109/ROBIO.2004.1521788
