Design process and experimental verification of the quadruped robot wave gait

Author

Mozaryn, Jakub ; Klimaszewski, Jan ; Kolodziejczyk, Pawel ; Swieczkowski-Feiz, Dariusz ; Wawrzynski, Pawel

Author_Institution

Inst. of Autom. Control & Robot., Warsaw Univ. of Technol., Warsaw, Poland

fYear

2014

fDate

2-5 Sept. 2014

Firstpage

206

Lastpage

211

Abstract

In this paper there is presented the design process and experimental verification of the quadruped robot wave gait. Mathematical model of a robot movement is a result of linking together derived leg movement equations with a scheme of their locomotion. The gait is designed and analysed based on two-step design procedure which consists of simulations using MSC Adams and Matlab environments and experimental verification using real quadruped robot.

Keywords

control engineering computing; control system synthesis; legged locomotion; motion control; MSC Adams software; Matlab environment; gait analysis; gait design; leg movement equations; mathematical model; quadruped robot wave gait; robot locomotion; robot movement; two-step design procedure; Joints; Legged locomotion; Robot kinematics; Stability criteria; Trajectory; educational robots; legged locomotion; mobile robots; robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Methods and Models in Automation and Robotics (MMAR), 2014 19th International Conference On

Conference_Location

Miedzyzdroje

Print_ISBN

978-1-4799-5082-9

Type

conf

DOI

10.1109/MMAR.2014.6957352

Filename

6957352