Stable walking of a quadruped robot on uneven terrains with friction constraints

Khorram, Mahdi; Moosavian, S. Ali A.

doi:10.1109/icrom.2014.6990928

Cited by 2 publications

(3 citation statements)

References 14 publications

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“…The basic kinematic structure of the robot is shown in (Figure 1a). Briefly, five coordinates are used for describing motion of the robot, as shown in (Figure 1b), and all of the details about kinematic relationships, validation of model of the robot and so on are expressed deeply in [30,31]. Each of the four foot of the Quadruped robot, are connected to each corners of the rectangular plate and each of them are equipped with a DC servo motor.…”

Section: System Descriptionmentioning

confidence: 99%

“…Figure 6 ZMP criterion for maintaining the stability of the robot in different gaits [31] As a result, ZMP reference path along the x and y axes can be calculated based on the accurate location of the footprints and defining the support polygon triangle of stance foots on the ground plane. In briefly, by mapping the total extracted gait parameters to Cartesian footstep planar, the location of footprints for any gait scenario is predetermined and this condition for the quadruped robot is shown in the (Figure 6).…”

Section: Deriving Cog Path Generation From Cartesian Footstep Plannermentioning

confidence: 99%

“…In this paper, all the generated gaits of the CPG are statistically stable, or obviously, COG of the robot is always retained over the polygon which shaped by the supporting feet. For reaching to this feature, a preview controller for computing the ZMP trajectory and COG path for the proposed quadruped robot are utilized [30,31].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Bio-inspired central pattern generator for development of Cartesian motor skills for a Quadruped Robot

Asadi¹,

Khorram²,

Moosavian³

2021

World J. Adv. Res. Rev.

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Central Pattern Generator (CPG) plays a significant role in the generation of diverse and stable gaits patterns for animals as well as controlling their locomotion. The main contributions of this paper are the ability to develop the Cartesian motor skills and coordinating legs of the quadruped robot for gait adaption and its nominal characteristics with CPG approach. Primary, a predefined relationship between an excitation signal and essential parameters of the CPG design is programmed. Next, the coordinated oscillator's rhythmic patterns by CPG and accordingly output gait diagrams for each foot of the robot are attained. Then, these desirable features such as predictive modulation and programming the gait event sequences including leg-lifting sequences and step length, duration of the time of each footstep within a gait, coordination of swing and stance phases of all legs are calculated in terms of different spatio_temporal vectors. Furthermore, a novel Cartesian footstep basis function is designed based on the robot characteristics and consequently, the associated spatio-temporal vectors can be inserted to it, which caused to spanning the space of possible gait timing in Cartesian space. Next, Cartesian footstep planner can be computed the swing foot trajectories in workspace along movement axes and then according to these footholds and feet placement, ZMP (Zero Moment Point) reference trajectory will be calculated and obtained. Therefore, COG (Center of Gravity) trajectory can be computed by designing a preview controller on the basis of the desired ZMP trajectory. Finally, to demonstrate the effectiveness of the proposed algorithm, it is implemented on a quadruped robot on both simulation or experimental implementations and the results are compared and discussed with other references.

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Section: System Descriptionmentioning

confidence: 99%

Section: Deriving Cog Path Generation From Cartesian Footstep Plannermentioning

confidence: 99%