Welcome to Journal of Beijing Institute of Technology
Advance Search
Volume 25Issue 4
.
Turn off MathJax
Article Contents
Article Navigation> JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY> 2016> 25(4): 463-472
HE Yu-dong, WANG Jun-zheng, KE Xian-feng, WANG Shou-kun. Stable walking of quadruped robot on unknown rough terrain[J]. JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2016, 25(4): 463-472. doi: 10.15918/j.jbit1004-0579.201625.0404
Citation: HE Yu-dong, WANG Jun-zheng, KE Xian-feng, WANG Shou-kun. Stable walking of quadruped robot on unknown rough terrain[J].JOURNAL OF BEIJING INSTITUTE OF TECHNOLOGY, 2016, 25(4): 463-472.doi:10.15918/j.jbit1004-0579.201625.0404
shu

Stable walking of quadruped robot on unknown rough terrain

doi:10.15918/j.jbit1004-0579.201625.0404

  • Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing 100081, China

  • Received Date:2015-05-19
    Abstract
  • Quadruped robot is considered to be the most practical locomotion machine to negotiate uneven terrain, and shows superb stability during static walking. To improve the ability to go over rough terrain, this paper is focused on the stable walking and balance control of quadruped robots. 24 kinds of walking gaits are analyzed in order to derive the most stable and smoothest walking gait. Considering the inefficiency to model a terrain by its specified appearance, a uniform terrain model is established and by means of kinematic analysis, a method to adjust the body posture and center of gravity (COG) height is presented. Simulations demonstrate the effectiveness of the proposed method and the improvement of the adaptation of quadruped robots on rough terrain.
    • FullText(HTML)
  • loading
    • References (10)
  • [1]
    Ma Shugen, Tomiyama Takashi, Wada Hideyuki. Omni-directional static walking of a quadruped robot[J]. Robotics, IEEE Transactions on, 2005, 21(2): 152-161.
    [2]
    McGhee R B. Some finite state aspects of legged locomotion[J]. Mathematical Biosciences, 1968, 2(1): 67-84.
    [3]
    Huang B, Zhao J, Sun L. Straight walking and stair climbing gait of quadruped robot based on static balance[J]. Robot, 2010(2): 226-232.(in Chinese)
    [4]
    Zeng Xiangyu,E Mingcheng, Li Dongdong,et al. Quadruped robot walking control on trench-like noncontinuous terrain[J]. Robot, 2011(6): 700-705.(in Chinese)
    [5]
    Feng H, Wang R, Zhao G, et al. A balance method for the static gait of a quadruped robot over a slope[J]. Mechanical Science and Technology for Aerospace Engineering, 2009(4): 436-441.(in Chinese)
    [6]
    Wang Lipeng, Wang Junzheng, Zhao Jiangbo,et al. ZMP based quadruped robot gait planning and control on rough terrain[J]. Transactions of Beijing Institute of Technology, 2015,35(6):601-606. (in Chinese)
    [7]
    Rebula J R, Neuhaus P D, Bonnlander B V, et al. A controller for the littledog quadruped walking on rough terrain[C]//Robotics and Automation, 2007 IEEE International Conference on, 2007: 1467-1473.
    [8]
    Wang Lipeng, Wang Junzheng, Wang Shoukun, et al. Strategy of foot trajectory generation for hydraulic quadruped robots gait planning [J]. Jounal of Mechanical Engineering, 2013(1): 39-44.(in Chinese)
    [9]
    Zhang Lei, Ma Shugen, Inoue Kousuke, et al. Omni-directional walking of a quadruped robot with optimal body postures on a slope[C]//Robotics and Automation, 2005 IEEE International Conference on, 2005: 2976-2981.
    [10]
    Wang Lipeng. Research on control and gait planning for a hydraulic quadruped robot[D]. Beijing: Beijing Institute of Technology, 2014.(in Chinese)
    • Relative Articles
  • Supplements (0)
  • Cited By
  • 加载中

Catalog

    通讯作者:陈斌, bchen63@163.com
    • 1.

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索
    Get Citation
    PDF
    XML

    Article Metrics

    Article views (730) PDF downloads(653) Cited by()
    Proportional views
    Related

    Address:5 Zhongguancun South Street, Haidian District, Beijing

    Tel:86-10-68914374

    Email:blgywb@bit.edu.cn

    Copy Right © Journal of Beijing Institute of Technology

    Supported by:Beijing Renhe Information Technology Co. Ltd

    /

      Return
      Return
        Baidu
        map