DocumentCode :
3405009
Title :
An omnidirectional gait control using a graph search method for a quadruped walking robot
Author :
Pack, Daniel J. ; Kang, Hoseok
Author_Institution :
Robot Vision Lab., Purdue Univ., West Lafayette, IN, USA
Volume :
1
fYear :
1995
fDate :
21-27 May 1995
Firstpage :
988
Abstract :
Two major approaches exist for devising gait control for a legged machine: 1) finding a sequence of leg and body movements of a robot on the basis of kinematic and possibly dynamic considerations assuming all foot placements are valid; and 2) selecting leg and body movements first on the basis of feasibility of foot placements and then accepting those that also satisfy kinematic and possibly dynamic constraints. Consider now the problem of a legged robot pursuing a quarry. With the first approach, the robot will be limited to operating over a relatively flat terrain. If the terrain is uneven, however, the robot will have no choice but to take recourse to the second approach even though it is computationally more demanding. The work done so far in the second approach is limited by either the constraint that the overall direction of ambulation of the robot is known in advance, or by the constraint that the foot placements are limited to the points of a grid superimposed on the topographic map of the terrain. In this paper, the authors discuss how a free gait can be generated for following a quarry without invoking such constraints
Keywords :
graph theory; legged locomotion; mobile robots; robot dynamics; robot kinematics; search problems; body movements; foot placements; graph search method; leg movements; legged machine; omnidirectional gait control; pursuing robot; quadruped walking robot; topographic map; Foot; Intelligent robots; Intelligent sensors; Kinematics; Leg; Legged locomotion; Robot sensing systems; Robotics and automation; Search methods; Stability;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
ISSN :
1050-4729
Print_ISBN :
0-7803-1965-6
Type :
conf
DOI :
10.1109/ROBOT.1995.525411
Filename :
525411
Link To Document :
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