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The simplest creeping gait for a quadruped robot

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This article presents the simplest creeping gait (creeping gait with one center-of-gravity movement in a cycle) for a quadruped robot. The creeping gait with one center-of-gravity movement is efficient in reducing the complexity of gait planning and the control of quadrupeds. To find the simplest creeping gait, the geometrical model of a quadruped is constructed, and the omni-directional stability margin is derived to determine the stability. Based on the features of creeping gaits, the simplest possible gait is analyzed. The mathematical description is used to describe the simplest gait with the maximum omni-directional stability margin. Details of the creeping gait, including its initial pattern and its
sequences, are provided. In a cycle of the creeping gait with one center-of-gravity movement, the center of gravity needs to move only once. Only 16 commands are required to move a quadruped with two degrees of freedom in each leg. An experiment conducted on the THU-WL robot proves that the gait is reliable and stable. The creeping gait with one center-of-gravity movement is a remarkable implification for the creeping gait.

Keywords Quadruped, creeping gait, center of gravity

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Informasi Detail

Judul Seri

J Mechanical Engineering Science

No. Panggil

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Penerbit

: SAGE Publications Ltd., 2012

Deskripsi Fisik

J Mechanical Engineering Science 227(1) 170–177 , 2012

Bahasa

English

ISBN/ISSN

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Klasifikasi

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Tipe Isi

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Tipe Media

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Tipe Pembawa

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Edisi

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Subjek

TEKNIK

Info Detail Spesifik

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hasnidar/agus

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