DocumentCode
3403307
Title
Realization of bounce gait in a quadruped robot with articular-joint-type legs
Author
Furusho, Junji ; Sano, Akihito ; Sakaguchi, Masamichi ; Koizumi, Eichi
Author_Institution
Univ. of Electro-Commun., Tokyo, Japan
Volume
1
fYear
1995
fDate
21-27 May 1995
Firstpage
697
Abstract
The purpose of this study is to realize the bounce gait in articular-joint-type quadruped robots. We first develop a new robot which can realize bounce. A simulator is then made for the purpose of analyzing dynamic walking and efficiently developing its control methods. We formulate the leg-support-exchange phenomenon using Lagrangian impulsive equation. The control method is discussed, and the results of computer simulation are shown. Experimental results are also presented
Keywords
control system synthesis; legged locomotion; mobile robots; robot dynamics; simulation; Lagrangian impulsive equation; articular-joint-type legs; bounce gait; computer simulation; dynamic walking; leg-support-exchange phenomenon; quadruped robot; Art; Control systems; Equations; Hydraulic actuators; Lagrangian functions; Leg; Legged locomotion; Oceans; Robots; Sea surface;
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.1995.525365
Filename
525365
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