The gait control system of the quadruped walking vehicle.

Hirose, Shigeo; Fukuda, Yasushi; Kikuchi, Hidekazu

doi:10.7210/jrsj.3.304

Cited by 21 publications

(12 citation statements)

References 3 publications

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“…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%

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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: Methodsmentioning

confidence: 99%

“…Research involving quadruped robots is currently quite common [1]- [3]. Using a neural system, Fukuoka et al were successful with experiments involving dynamic walking of a quadruped robot on irregular terrain [4].…”

Section: Introductionmentioning

confidence: 98%

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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“…On the other hand, if there were no data delay and no back lash etc., that is, the ideal situation, θ ・ p should be used for better performance. The control law concerning the sheet's roll is (2) where Tθ r is the torque of the roll adjustment shaft, θ r is the sheet's roll, θ d r is the desired roll, θ ・ r' is the angular velocity of the roll adjustment shaft, θ ・ dr' is the desired angular velocity of that, K r is the angle gain, and D r' is the angular velocity gain. This control law is applied to both the front and rear shafts.…”

Section: Function Of Legmentioning

confidence: 99%

“…Many researches have also dealt with improving the mobility performance. To provide a few examples of leg-type robots, there is the ASV [1] and the TITAN series [2]. Examples of wheel-and crawler-type robots are Sojourner that was built by NASA, CRAB [3] and TAQT Carrier [4].…”

Section: Introductionmentioning

confidence: 99%

Development of four-wheel-type mobile robot for rough terrain and verification of its fundamental capability of moving on rough terrain

Nakajima

2009

2008 IEEE International Conference on Robotics and Biomimetics

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In many fields employing robots, e.g., wheelchair robots, rescue robots, and construction robots, robots that can move on rough terrains are desired. A robot with a simple mechanism and high mobility for all terrains is discussed in this paper. A four-wheel-type mobile robot is developed, and its design is discussed from a functional viewpoint. Its fundamental capability of moving on rough terrains is verified through simulations and experiments.

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“…It is pointed out that the insect type leg is suitable for walking on rough terrain [5], [6]. In the insect type leg, its knee joint is located laterally or higher than its hip and the configuration is sprawling wide-track.…”

Section: Introductionmentioning

confidence: 99%

Development of ASURA I: Harvestman-like hexapod walking robot — Approach for long-legged robot and leg mechanism design

Hodoshima

Watanabe

Nishiyama

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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In this paper, a harvestman-like hexapod walking robot named ASURA I is proposed and its leg mechanism design is discussed. Modeled on a harvestman in nature, the authors have introduced the concept of mobile form that has long legs and small body to ASURA I to enhance mobile performance on rough terrain. To develop long legs relative to body, special parallel link mechanism to drive leg joints powerfully and effectively is introduced to leg mechanism of ASURA I. First, we discuss design problems of leg mechanism in detail: leg length, DOF configuration, actuator selection and leg driving system. Then, analysis of kinematics, singularity and static characteristic of leg mechanism are reported. Finally, the prototype leg, which is 1.3 m in length and 3.2 kg in weight, has been developed and tested on some basic performance. The prototype successfully have demonstrated very basic motion.

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The gait control system of the quadruped walking vehicle.

Cited by 21 publications

References 3 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

Development of four-wheel-type mobile robot for rough terrain and verification of its fundamental capability of moving on rough terrain

Development of ASURA I: Harvestman-like hexapod walking robot — Approach for long-legged robot and leg mechanism design

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The gait control system of the quadruped walking vehicle.

Cited by 21 publications

References 3 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

Development of four-wheel-type mobile robot for rough terrain and verification of its fundamental capability of moving on rough terrain

Development of ASURA I: Harvestman-like hexapod walking robot &#x2014; Approach for long-legged robot and leg mechanism design

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Development of ASURA I: Harvestman-like hexapod walking robot — Approach for long-legged robot and leg mechanism design