Trot Gait Design Details for Quadrupeds

Trot Gait Design Details for Quadrupeds

This paper presents a full description of the design of a trot locomotion that has been implemented on AIBO quadrupeds in the Sony legged league. This work is inspired by the UNSW achievements in RoboCup 2000 and 2001 in Melbourne and Seattle. The French team rebuilt a complete trot locomotion from...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: Hugel, Vincent, Blazevic, Pierre, Stasse, Olivier, Bonnin, Patrick
Format: Buchkapitel
Sprache:eng
Schlagworte:
Applied sciences
Computer Science
Computer science
control theory
systems
Control theory. Systems
Decision Module
Exact sciences and technology
Home Position
Landing Point
Position Control
Robotics
Stance Phase
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:This paper presents a full description of the design of a trot locomotion that has been implemented on AIBO quadrupeds in the Sony legged league. This work is inspired by the UNSW achievements in RoboCup 2000 and 2001 in Melbourne and Seattle. The French team rebuilt a complete trot locomotion from scratch, and introduced special features that differ from the Australian original design. Many papers have already been dedicated to the work on quadruped locomotion [2-4]. However they do not detail all the parts of the design.
ISSN:0302-9743
1611-3349
DOI:10.1007/978-3-540-25940-4_44