Reliable gait planning for a quadruped walking robot
Presents a method for designing reliable gaits for structural symmetrical quadruped robot capable of performing statically stable, omnidirectional walking on irregular terrain. Robot's virtual model is constructed and a control algorithm is proposed by applying virtual components at some strate...
Gespeichert in:
| Hauptverfasser: | , |
|---|---|
| Format: | Tagungsbericht |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext bestellen |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 1787 |
|---|---|
| container_issue | |
| container_start_page | 1783 |
| container_title | |
| container_volume | |
| creator | Huai Chuangfeng Liu Pingan |
| description | Presents a method for designing reliable gaits for structural symmetrical quadruped robot capable of performing statically stable, omnidirectional walking on irregular terrain. Robot's virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. At the joint control level of the proposed gait control, sample-based interpolation makes the joint trajectory tractable for the small motor and controller of the miniaturized robot. Centroid body sway ensures walking stability to achieve reliability of the proposed gaits at the motion planning level. Simulation results are presented to show the system's efficiency and stability in adapting to an uncertain terrain. |
| doi_str_mv | 10.1109/CCDC.2010.5498555 |
| format | Conference Proceeding |
| fullrecord | <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_5498555</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>5498555</ieee_id><sourcerecordid>5498555</sourcerecordid><originalsourceid>FETCH-LOGICAL-i175t-68e84200a7f4416b799cadf854bab316efcc401c7f0c30207fb383fcc218bfc33</originalsourceid><addsrcrecordid>eNpFUF9LwzAcjH8GbnMfQHzJF-jML_mlSR6lTicMBNHnkaTJiNa2th3it7ficPdy3B3cwRFyBWwJwMxNUdwVS85GKdFoKeUJmQFyRAmay1MyBYM6M4jq7BiAOv8PhJmQGWfMGIFCwAVZ9P0bG4GSg1JTgs-hStZVge5sGmhb2bpO9Y7GpqOWfu5t2e3bUNIvW73_-l3jmuGSTKKt-rA48Jy83q9einW2eXp4LG43WQIlhyzXQeM4blVEhNwpY7wto5borBOQh-g9MvAqMi8YZyo6ocVoctAueiHm5PqvN4UQtm2XPmz3vT1cIX4AXDVLMw</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Reliable gait planning for a quadruped walking robot</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Huai Chuangfeng ; Liu Pingan</creator><creatorcontrib>Huai Chuangfeng ; Liu Pingan</creatorcontrib><description>Presents a method for designing reliable gaits for structural symmetrical quadruped robot capable of performing statically stable, omnidirectional walking on irregular terrain. Robot's virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. At the joint control level of the proposed gait control, sample-based interpolation makes the joint trajectory tractable for the small motor and controller of the miniaturized robot. Centroid body sway ensures walking stability to achieve reliability of the proposed gaits at the motion planning level. Simulation results are presented to show the system's efficiency and stability in adapting to an uncertain terrain.</description><identifier>ISSN: 1948-9439</identifier><identifier>ISBN: 1424451817</identifier><identifier>ISBN: 9781424451814</identifier><identifier>EISSN: 1948-9447</identifier><identifier>EISBN: 1424451825</identifier><identifier>EISBN: 9781424451821</identifier><identifier>DOI: 10.1109/CCDC.2010.5498555</identifier><identifier>LCCN: 2009934331</identifier><language>eng</language><publisher>IEEE</publisher><subject>Chaos ; Contact Force ; Control systems ; Delay ; Design methodology ; Differential equations ; Disruption tolerant networking ; Friction Pyramid ; Legged locomotion ; Nonlinear control systems ; Oscillators ; Quadruped walking ; Stability criteria ; Structural symmetrical ; Virtual leg</subject><ispartof>2010 Chinese Control and Decision Conference, 2010, p.1783-1787</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/5498555$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,776,780,785,786,2051,27904,54898</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/5498555$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Huai Chuangfeng</creatorcontrib><creatorcontrib>Liu Pingan</creatorcontrib><title>Reliable gait planning for a quadruped walking robot</title><title>2010 Chinese Control and Decision Conference</title><addtitle>CCDC</addtitle><description>Presents a method for designing reliable gaits for structural symmetrical quadruped robot capable of performing statically stable, omnidirectional walking on irregular terrain. Robot's virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. At the joint control level of the proposed gait control, sample-based interpolation makes the joint trajectory tractable for the small motor and controller of the miniaturized robot. Centroid body sway ensures walking stability to achieve reliability of the proposed gaits at the motion planning level. Simulation results are presented to show the system's efficiency and stability in adapting to an uncertain terrain.</description><subject>Chaos</subject><subject>Contact Force</subject><subject>Control systems</subject><subject>Delay</subject><subject>Design methodology</subject><subject>Differential equations</subject><subject>Disruption tolerant networking</subject><subject>Friction Pyramid</subject><subject>Legged locomotion</subject><subject>Nonlinear control systems</subject><subject>Oscillators</subject><subject>Quadruped walking</subject><subject>Stability criteria</subject><subject>Structural symmetrical</subject><subject>Virtual leg</subject><issn>1948-9439</issn><issn>1948-9447</issn><isbn>1424451817</isbn><isbn>9781424451814</isbn><isbn>1424451825</isbn><isbn>9781424451821</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2010</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpFUF9LwzAcjH8GbnMfQHzJF-jML_mlSR6lTicMBNHnkaTJiNa2th3it7ficPdy3B3cwRFyBWwJwMxNUdwVS85GKdFoKeUJmQFyRAmay1MyBYM6M4jq7BiAOv8PhJmQGWfMGIFCwAVZ9P0bG4GSg1JTgs-hStZVge5sGmhb2bpO9Y7GpqOWfu5t2e3bUNIvW73_-l3jmuGSTKKt-rA48Jy83q9einW2eXp4LG43WQIlhyzXQeM4blVEhNwpY7wto5borBOQh-g9MvAqMi8YZyo6ocVoctAueiHm5PqvN4UQtm2XPmz3vT1cIX4AXDVLMw</recordid><startdate>201005</startdate><enddate>201005</enddate><creator>Huai Chuangfeng</creator><creator>Liu Pingan</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201005</creationdate><title>Reliable gait planning for a quadruped walking robot</title><author>Huai Chuangfeng ; Liu Pingan</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-68e84200a7f4416b799cadf854bab316efcc401c7f0c30207fb383fcc218bfc33</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2010</creationdate><topic>Chaos</topic><topic>Contact Force</topic><topic>Control systems</topic><topic>Delay</topic><topic>Design methodology</topic><topic>Differential equations</topic><topic>Disruption tolerant networking</topic><topic>Friction Pyramid</topic><topic>Legged locomotion</topic><topic>Nonlinear control systems</topic><topic>Oscillators</topic><topic>Quadruped walking</topic><topic>Stability criteria</topic><topic>Structural symmetrical</topic><topic>Virtual leg</topic><toplevel>online_resources</toplevel><creatorcontrib>Huai Chuangfeng</creatorcontrib><creatorcontrib>Liu Pingan</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Huai Chuangfeng</au><au>Liu Pingan</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Reliable gait planning for a quadruped walking robot</atitle><btitle>2010 Chinese Control and Decision Conference</btitle><stitle>CCDC</stitle><date>2010-05</date><risdate>2010</risdate><spage>1783</spage><epage>1787</epage><pages>1783-1787</pages><issn>1948-9439</issn><eissn>1948-9447</eissn><isbn>1424451817</isbn><isbn>9781424451814</isbn><eisbn>1424451825</eisbn><eisbn>9781424451821</eisbn><abstract>Presents a method for designing reliable gaits for structural symmetrical quadruped robot capable of performing statically stable, omnidirectional walking on irregular terrain. Robot's virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. At the joint control level of the proposed gait control, sample-based interpolation makes the joint trajectory tractable for the small motor and controller of the miniaturized robot. Centroid body sway ensures walking stability to achieve reliability of the proposed gaits at the motion planning level. Simulation results are presented to show the system's efficiency and stability in adapting to an uncertain terrain.</abstract><pub>IEEE</pub><doi>10.1109/CCDC.2010.5498555</doi><tpages>5</tpages></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 1948-9439 |
| ispartof | 2010 Chinese Control and Decision Conference, 2010, p.1783-1787 |
| issn | 1948-9439 1948-9447 |
| language | eng |
| recordid | cdi_ieee_primary_5498555 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Chaos Contact Force Control systems Delay Design methodology Differential equations Disruption tolerant networking Friction Pyramid Legged locomotion Nonlinear control systems Oscillators Quadruped walking Stability criteria Structural symmetrical Virtual leg |
| title | Reliable gait planning for a quadruped walking robot |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-23T13%3A40%3A53IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Reliable%20gait%20planning%20for%20a%20quadruped%20walking%20robot&rft.btitle=2010%20Chinese%20Control%20and%20Decision%20Conference&rft.au=Huai%20Chuangfeng&rft.date=2010-05&rft.spage=1783&rft.epage=1787&rft.pages=1783-1787&rft.issn=1948-9439&rft.eissn=1948-9447&rft.isbn=1424451817&rft.isbn_list=9781424451814&rft_id=info:doi/10.1109/CCDC.2010.5498555&rft_dat=%3Cieee_6IE%3E5498555%3C/ieee_6IE%3E%3Curl%3E%3C/url%3E&rft.eisbn=1424451825&rft.eisbn_list=9781424451821&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=5498555&rfr_iscdi=true |