IngentaConnect Implementation of omnidirectional crawl for a quadruped robot

Authors: Chen, Xuedong¹; Watanabe, Keigo²; Kiguchi, Kazuo²; Izumi, Kiyotaka³

Source: Advanced Robotics, Volume 15, Number 2, 2001 , pp. 169-190(22)

Abstract:

As a reptile animal crawls in a cluttered environment, so a quadruped robot should be able to crawl on an irregular ground profile with its static stability by adopting the straightgoing and standstill-turning free gaits. The generalized and explicit formulations for the automatic generation of straight-going gaits and various standstill-turning gaits are presented in this paper. The maximized stride for the straight-going gait and the maximum turning angle for the turning gait of a quadruped robot named TITAN-VIII in a gait cycle are discussed by considering the robot's mechanism constraints and the irregularities of the ground profile. The control algorithm, including control of the joint positions of the robot, is described to implement the desired walking path of the quadruped robot. The effectiveness of the proposed method is demonstrated through experimental result.

Keywords: QUADRUPED ROBOT; OMNIDIRECTIONAL CRAWL; GAIT GENERATION; GAIT CONTROL; STRAIGHT-GOING GAIT; STANDSTILL-TURNING GAIT

Document Type: Research article

DOI: 10.1163/15685530152116218

Affiliations: 1: Faculty of Engineering Systems and Technology, Graduate School of Science and Engineering, Saga University 2: Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University 3: Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University

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