An adaptive gait for quadruped robots to walk on a slope

Konno, Atsushi; Ogasawara, Katsuhisa; Hwang, Yujin; Inohira, Eiichi; Uchiyama, Masaru

doi:10.1109/iros.2003.1250693

Cited by 18 publications

(8 citation statements)

References 5 publications

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“…Computer simulation and experiments demonstrated the feasibility of our proposed method and confirmed the stability in gait transition by a measure of stability margin. Step 5 Step 6 Step 7 Step 8 (B) Experiment …”

Section: Discussionmentioning

confidence: 99%

“…We conducted walking experiments using the real robot [1][2][3][4][5][6][7][8] denote the steps in the simulation, as shown in Fig.12(A). The robot walks forward in the X-crawl from step 1 to step 3, and, in step 4, the left-forward leg starts swinging to the left, at which time, gait transition starts.…”

Section: Methodsmentioning

confidence: 99%

“…To increase stability, Tsukakoshi et al proposed an intermittent crawl gait [5]. More recently, Konno et al presented an adaptive intermittent crawl gait [6]. Because of the zigzag trajectory or the 4-leg support period used by a quadruped robot on a slope, its motion speed is generally slow.…”

Section: Introductionmentioning

confidence: 99%

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Several Insights into Omnidirectional Static Walking of a Quadruped Robot on a slope

Zhang

Ma²,

Inoue³

2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Several insights gained from observing quadruped robots in omnidirectional static walking experiments at high speed on a slope are presented here. In order to allow a robot to move as fast as possible, the height of center of gravity (COG) and three rotating axes, i.e., roll, pitch, and yaw, were used to discuss the COG with the corresponding optimal body posture (COBP). The COBP is the posture in which the motion velocity is maximized according to the height of COG, stability, degree of slope, and direction. Successive gait transition with a minimum number of steps is achievable with the use of a common foot position before and after a gait transition. The time required to change gaits may be reduced by designing the foot positions during crawling and rotating while limiting reachable region of the foot on a slope. The robot, thus, walks in any direction fast and statically with COBP by dynamically changing the height of COG and body posture during gait transitions.

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Section: Discussionmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

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Several Insights into Omnidirectional Static Walking of a Quadruped Robot on a slope

Zhang

Ma²,

Inoue³

2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…A stability criterion, the Normalized Energy Stability Margin, was proposed to evaluate the stability of walking [3]. A walking gait with a large stability margin was also proposed [4]. Estremera and Santos proposed a free gait, which allows the quadruped robot (SILO4) to have a statically stable gait by searching for optimal footholds [5,6].…”

Section: Introductionmentioning

confidence: 99%

“Leg-grope walk”: strategy for walking on fragile irregular slopes as a quadruped robot by force distribution

Ambe

Matsuno

2016

Robomech J

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Problems can often occur when a legged robot attempts to walk on irregular or damaged terrain, such as in search and rescue missions during natural and man-made disasters. In some cases, the ground beneath the robot will collapse because of the pressure of its weight, causing the machine to lose its foothold and topple over. This is a point to which we as designers must pay careful attention when designing a robot. Thus, in such irregular areas, the robot should walk carefully so as not to collapse its footholds. To attempt to solve this problem, we proposed the "leg-grope walk" method which allows a quadruped robot to avoid stumbling or causing a large collapse of the surrounding area on weak horizontal planes. Specifically, when the robot puts its foot on the ground, it applies some excess force on the ground and confirms whether the foothold is likely to collapse, so as to choose a foothold will not collapse. In this study, we extended this method to weak and irregular slopes, where slippage needs to be considered. A new walking method was designed using a force distribution method. To validate the method, we show simulation results from force distribution and robotic experiments in various environments. These results demonstrate that our method allows a robot to walk carefully without slipping or stumbling, even when its foothold is lost.

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“…This is the reason why we focus on the static walking in our study. To increase stability, Tsukakoshi et al proposed the intermittent crawl gait [6] and Konno et al proposed an adaptive intermittent crawl gait [7]. However, when a quadruped robot walks on a slope with these gaits, the movement will become very slow.…”

Section: Introductionmentioning

confidence: 99%

Gait planning and intelligent control for a quadruped robot

Wang

Zhang

et al. 2009

J. Control Theory Appl.

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We present a method for designing free gaits for a structurally symmetrical quadruped robot capable of performing statically stable, omnidirectional walking on irregular terrain. The robot's virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. The deliberative-based controller can generate flexible sequences of leg transferences while maintaining walking speed, and choose optimum foothold for moving leg based on integration data of exteroceptive terrain profile. Simulation results are presented to show the gait's efficiency and system's stability in adapting to an uncertain terrain.

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An adaptive gait for quadruped robots to walk on a slope

Cited by 18 publications

References 5 publications

Several Insights into Omnidirectional Static Walking of a Quadruped Robot on a slope

Several Insights into Omnidirectional Static Walking of a Quadruped Robot on a slope

“Leg-grope walk”: strategy for walking on fragile irregular slopes as a quadruped robot by force distribution

Gait planning and intelligent control for a quadruped robot

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