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 language | English |
|---|---|
| Pages (from-to) | VI-959 - VI-964 |
| Journal | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics |
| Volume | 6 |
| Publication status | Published - Dec 1 1999 |
| Externally published | Yes |
| Event | 1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn Duration: Oct 12 1999 → Oct 15 1999 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Hardware and Architecture
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Chen, X., Watanabe, K., & Izumi, K. (1999). Study on the control algorithm of the translational crawl for a quadruped robot. Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 6, VI-959 - VI-964.