Trajectory planning and four-leg coordination for stair climbing in a quadruped robot
We report on the algorithm of trajectory planning and four leg coordination for quasi-static stair climbing in a quadruped robot. The development is based on the geometrical interactions between the robot legs and the stair, starting from single-leg analysis, followed by two-leg collaboration, and t...
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| creator | Chih-Chung Ko Shen-Chiang Chen Cheng-Hsin Li Pei-Chun Lin |
| description | We report on the algorithm of trajectory planning and four leg coordination for quasi-static stair climbing in a quadruped robot. The development is based on the geometrical interactions between the robot legs and the stair, starting from single-leg analysis, followed by two-leg collaboration, and then four-leg coordination. In addition, a brief study on stability of the robot is also reported. Finally, simulation and experimental test are also executed to evaluate the performance of the algorithm. |
| doi_str_mv | 10.1109/IROS.2010.5650176 |
| format | Conference Proceeding |
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The development is based on the geometrical interactions between the robot legs and the stair, starting from single-leg analysis, followed by two-leg collaboration, and then four-leg coordination. In addition, a brief study on stability of the robot is also reported. 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The development is based on the geometrical interactions between the robot legs and the stair, starting from single-leg analysis, followed by two-leg collaboration, and then four-leg coordination. In addition, a brief study on stability of the robot is also reported. Finally, simulation and experimental test are also executed to evaluate the performance of the algorithm.</description><subject>Hip</subject><subject>Joints</subject><subject>Leg</subject><subject>Legged locomotion</subject><subject>Robot kinematics</subject><subject>Timing</subject><issn>2153-0858</issn><issn>2153-0866</issn><isbn>9781424466740</isbn><isbn>1424466741</isbn><isbn>9781424466764</isbn><isbn>1424466768</isbn><isbn>142446675X</isbn><isbn>9781424466757</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2010</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpVkM1qwzAQhNU_aEjzAKUXvYDTlW2t5GMJ_QkEAm1yDitrHRQcK5WdQ96-KS2FnoaZb5jDCHGvYKoUVI_z9-XHNIez1ahBGbwQk8pYVeZliWiwvBSjXOkiA4t49Y-VcP3HtL0Vk77fAZynTGUrHIn1KtGO6yGmkzy01HWh20rqvGziMWUtb2UdY_KhoyHE7pwm2Q8UkqzbsHff5dBJkp9H8ul4YC9TdHG4EzcNtT1PfnUs1i_Pq9lbtli-zmdPiywoo4cMG4LGo2XiCoAaZgWMHooaNGkF1jXGWVMajczkvUOvMSdj6zy3jl0xFg8_u4GZN4cU9pROm9-Tii9JjFgE</recordid><startdate>201010</startdate><enddate>201010</enddate><creator>Chih-Chung Ko</creator><creator>Shen-Chiang Chen</creator><creator>Cheng-Hsin Li</creator><creator>Pei-Chun Lin</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>201010</creationdate><title>Trajectory planning and four-leg coordination for stair climbing in a quadruped robot</title><author>Chih-Chung Ko ; Shen-Chiang Chen ; Cheng-Hsin Li ; Pei-Chun Lin</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-6fa0fd68eae900afee10e6d03c05a5108bf7b874756eeaddb6d562a78c228beb3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2010</creationdate><topic>Hip</topic><topic>Joints</topic><topic>Leg</topic><topic>Legged locomotion</topic><topic>Robot kinematics</topic><topic>Timing</topic><toplevel>online_resources</toplevel><creatorcontrib>Chih-Chung Ko</creatorcontrib><creatorcontrib>Shen-Chiang Chen</creatorcontrib><creatorcontrib>Cheng-Hsin Li</creatorcontrib><creatorcontrib>Pei-Chun Lin</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Chih-Chung Ko</au><au>Shen-Chiang Chen</au><au>Cheng-Hsin Li</au><au>Pei-Chun Lin</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Trajectory planning and four-leg coordination for stair climbing in a quadruped robot</atitle><btitle>2010 IEEE/RSJ International Conference on Intelligent Robots and Systems</btitle><stitle>IROS</stitle><date>2010-10</date><risdate>2010</risdate><spage>5335</spage><epage>5340</epage><pages>5335-5340</pages><issn>2153-0858</issn><eissn>2153-0866</eissn><isbn>9781424466740</isbn><isbn>1424466741</isbn><eisbn>9781424466764</eisbn><eisbn>1424466768</eisbn><eisbn>142446675X</eisbn><eisbn>9781424466757</eisbn><abstract>We report on the algorithm of trajectory planning and four leg coordination for quasi-static stair climbing in a quadruped robot. The development is based on the geometrical interactions between the robot legs and the stair, starting from single-leg analysis, followed by two-leg collaboration, and then four-leg coordination. In addition, a brief study on stability of the robot is also reported. Finally, simulation and experimental test are also executed to evaluate the performance of the algorithm.</abstract><pub>IEEE</pub><doi>10.1109/IROS.2010.5650176</doi><tpages>6</tpages></addata></record> |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Hip Joints Leg Legged locomotion Robot kinematics Timing |
| title | Trajectory planning and four-leg coordination for stair climbing in a quadruped robot |
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