Title :
Gait synthesis for quadruped robot walking up and down slope
Author :
Pan, Junwin ; Cheng, Junshi
Author_Institution :
Shanghai Jiao Tong Univ., Shanghai, China
Abstract :
The authors study motion laws of a quadruped robot in environments which are concerned with slope, i.e. from slope to level, from a slope to another slope. The authors unify a slope recognition and gradient measuring method for all environments which are concerned with slope. The three rules which are used to recognize a slope are proven. The authors study prediction of posture after body turn and posture adjustment before body turn, the stability and maximum step length of a quadruped robot in transition area
Keywords :
legged locomotion; body turn; gait synthesis; gradient measuring; maximum step length; motion laws; posture adjustment; quadruped robot; slope recognition; stability; Area measurement; Control systems; Foot; Legged locomotion; Length measurement; Robot sensing systems; Sensor systems; Tactile sensors;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583162