Realization of Complex Terrain and Disturbance Adaptation for Hydraulic Quadruped Robot under Flying trot Gait

Chen, Teng; Li, Yibin; Rong, Xuewen; Zhou, Lelai

doi:10.1109/robio49542.2019.8961497

Cited by 4 publications

(2 citation statements)

References 18 publications

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“…There is little research on flying trotting for large and heavy quadruped robots. [ 77 ] The bound gait consists of four phases: flight, front‐leg standing, back‐leg standing, and four‐leg standing. [ 78 ] As a high‐speed gait, bounding not only increases the robot's speed but also aids in overcoming obstacles and ravines, thus enhancing environmental adaptability.…”

Section: Control Of Quadruped Robotsmentioning

confidence: 99%

A Review of Quadruped Robots: Structure, Control, and Autonomous Motion

Fan,

Pei,

Wang

et al. 2024

Advanced Intelligent Systems

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With their unique point‐contact ability with the ground and exceptional adaptability to complex terrains, quadruped robots have become a focal point in the fields of automation and robotic engineering. Significant research progress has been made in aspects such as structural design, motion planning, and balance control of these robots. However, a primary challenge in current research lies in further enhancing the dynamic performance, environmental adaptability, and payload capacity. In this article, research achievements in key technical areas of quadruped robots, encompassing structural design, gait planning, traditional control strategies, intelligent control strategies, and autonomous movement, are comprehensively discussed. The focus of the article is on analyzing trends in intelligence and technological innovation within the aforementioned areas, aiming to provide robust theoretical support and forward‐looking technical guidance for quadruped robots research. Additionally, it offers valuable references for scholars engaged in this field.

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Section: Control Of Quadruped Robotsmentioning

confidence: 99%

A Review of Quadruped Robots: Structure, Control, and Autonomous Motion

Fan,

Pei,

Wang

et al. 2024

Advanced Intelligent Systems

View full text Add to dashboard Cite

show abstract

“…In [18], a method for posture correction for stable quadruped locomotion over uneven terrain was shown where the correct posture was selected based on the terrain, foothold reachability and gait sequence. Another example of quadruped locomotion strategy development was proposed in [19] where Tenge and colleagues implemented a strategy to achieve a stable flying trot movement of the robot allowing it to climb slopes within 20 degrees in flying trot gait and resist lateral impact forces.…”

Section: Introductionmentioning

confidence: 99%

Energy Efficiency of a Quadruped Robot with Neuro-Inspired Control in Complex Environments

2021

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This paper proposes an analysis of the energy efficiency of a small quadruped robotic structure, designed based on the MIT Mini Cheetah, controlled using a central pattern generator based on the FitzHugh–Nagumo neuron. The robot’s performance evaluated on structurally complex terrain in a dynamic simulation environment is compared with other robotic structures on wheels and with hybrid architectures. The energy cost involved in carrying out an assigned task involving the need to traverse uneven terrain is calculated as a relevant index to be taken into account. In particular, simple control strategies impacting the leg trajectories are taken into account as the main factors affecting the energy efficiency in different terrain configurations. The adaptation of the leg trajectories is evaluated depending on the terrain characteristics, improving the locomotion performance.

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Balance and Posture Control of Legged Robots: A Survey

Bahçeci

Erbatur

2023

J Intell Robot Syst

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Realization of Complex Terrain and Disturbance Adaptation for Hydraulic Quadruped Robot under Flying trot Gait

Cited by 4 publications

References 18 publications

A Review of Quadruped Robots: Structure, Control, and Autonomous Motion

A Review of Quadruped Robots: Structure, Control, and Autonomous Motion

Energy Efficiency of a Quadruped Robot with Neuro-Inspired Control in Complex Environments

Balance and Posture Control of Legged Robots: A Survey

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