Title :
Dynamic quadruped walking stabilized with trunk motion
Author :
Takanishi, Atsuo ; Yamaguchi, Jin´ichi ; Iwata, Mitsuyasu
Author_Institution :
Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan
Abstract :
The authors have started to study on the development of a hydraulically powered quadruped walking robot having a trunk which stabilizes its walking by generating compensation moment to the ground for higher mobility on a flat floor. This paper describes a motion control method of the trunk for moment compensation and results of dynamic simulation for the walking
Keywords :
compensation; legged locomotion; stability; compensation moment; dynamic quadruped walking; dynamic simulation; hydraulically powered quadruped walking robot; moment compensation; motion control; stabilization; trunk motion; Automatic control; Force control; Leg; Legged locomotion; Mechanical engineering; Mobile robots; Motion control; Path planning; Power generation; Robotics and automation;
Conference_Titel :
Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on
Conference_Location :
Pittsburgh, PA
Print_ISBN :
0-8186-7108-4
DOI :
10.1109/IROS.1995.525879
