Implementation of omnidirectional crawl for a quadruped robot

X. Chen, Keigo Watanabe, K. Kiguchi, K. Izumi

Research output: Contribution to journalArticle

18 Citations (Scopus)

Abstract

As a reptile animal crawls in a cluttered environment, so a quadruped robot should be able to crawl on an irregular ground profile with its static stability by adopting the straight-going and standstill-turning free gaits. The generalized and explicit formulations for the automatic generation of straight-going gaits and various standstill-turning gaits are presented in this paper. The maximized stride for the straight-going gait and the maximum turning angle for the turning gait of a quadruped robot named TITAN-VIII in a gait cycle are discussed by considering the robot's mechanism constraints and the irregularities of the ground profile. The control algorithm, including control of the joint positions of the robot, is described to implement the desired walking path of the quadruped robot. The effectiveness of the proposed method is demonstrated through experimental result.

Original languageEnglish
Pages (from-to)169-190
Number of pages22
JournalAdvanced Robotics
Volume15
Issue number2
DOIs
Publication statusPublished - 2001
Externally publishedYes

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Keywords

  • Gait control
  • Gait generation
  • Omnidirectional crawl
  • Quadruped robot
  • Standstill-turning gait
  • Straight-going gait

ASJC Scopus subject areas

  • Control and Systems Engineering

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