Title :
A study of turning gait control for quadruped walking vehicle
Author :
Lie, Ma ; Peisun, Ma
Author_Institution :
Res. Inst. of Robotics, Shanghai Jiao Tong Univ., China
Abstract :
This paper studies the realization of turning gait control, taking a quadruped walking vehicle as the subject of the research. Based on the analyses of previous works, a kind of turning gait with the center of gravity of the vehicle walking along multiple broken lines has been planned, which is more suitable for practical control than previous methods. The process of the turning gait and its feasibility are discussed in detail. The turning gait presented is being implemented in the omnidirectional quadruped walking robot JTUWM-II
Keywords :
mobile robots; position control; JTUWM-II; omnidirectional quadruped walking robot; quadruped walking vehicle; turning gait control; Gravity; Land vehicles; Leg; Legged locomotion; Road vehicles; Robot kinematics; Stability; Standards development; Torso; Turning;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174727
