Study on the control algorithm of the translational crawl for a quadruped robot

Xuedong Chen, Keigo Watanabe, Kiyotaka Izumi

Research output: Contribution to journalConference article

3 Citations (Scopus)

Abstract

The concept called the translational crawl of the quadruped robot is defined, a periodic gait of the translational crawl is described for the robot TITAN-VIII in the known environment. According to its simplified kinematic process, the robot can implement the omnidirectional walking in the known environment by the real-time control of the gait. The control algorithm on the gait is presented in detail. The effectiveness of the proposed approach is illustrated by giving the simulation results.

Original languageEnglish
Pages (from-to)VI-959 - VI-964
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume6
Publication statusPublished - Dec 1 1999
Externally publishedYes
Event1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn
Duration: Oct 12 1999Oct 15 1999

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Hardware and Architecture

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