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 |
|---|---|
| Title of host publication | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics |
| Publisher | IEEE |
| Volume | 6 |
| Publication status | Published - 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 |
Other
| Other | 1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' |
|---|---|
| City | Tokyo, Jpn |
| Period | 10/12/99 → 10/15/99 |
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ASJC Scopus subject areas
- Hardware and Architecture
- Control and Systems Engineering
Cite this
Study on the control algorithm of the translational crawl for a quadruped robot. / Chen, Xuedong; Watanabe, Keigo; Izumi, Kiyotaka.
Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 6 IEEE, 1999.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Study on the control algorithm of the translational crawl for a quadruped robot
AU - Chen, Xuedong
AU - Watanabe, Keigo
AU - Izumi, Kiyotaka
PY - 1999
Y1 - 1999
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0033324787&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0033324787&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0033324787
VL - 6
BT - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
PB - IEEE
ER -