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Optimal turning gait of a quadruped walking robot

Published online by Cambridge University Press:  09 March 2009

D. J. Cho ,
J. H. Kim  and
D. G. Gweon
D. J. Cho
Affiliation:
Department of Precision Engineering and Mechatronics, Korea Advanced Institute of Science and Technology, 373-1 Kusong-Dong Yusong-Ku, Taejon (Korea)
J. H. Kim
Affiliation:
Department of Precision Engineering and Mechatronics, Korea Advanced Institute of Science and Technology, 373-1 Kusong-Dong Yusong-Ku, Taejon (Korea)
D. G. Gweon
Affiliation:
Department of Precision Engineering and Mechatronics, Korea Advanced Institute of Science and Technology, 373-1 Kusong-Dong Yusong-Ku, Taejon (Korea)
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Summary

The analysis of the gait mode is an important step for constructing a walking robot. In this study an optimal turning gait of a four-legged walking robot is proposed, which maximizes walking speed keeping walking stability larger than a certain required value. To obtain an optimal gait algorithm, for body trajectory of the robot, maximum walking speed, feasible gait modes and stability margin are analyzed for a quadruped walking robot designed in this study. The proposed gait is sufficiently flexible, as to permit crab walking, turning walking and a pure rotational walking about a robot's geometric center. The validity of the proposed gait algorithm is confirmed by many simulations.

Keywords

Walking robotTurning gaitQuadrupedGait algorithm
Type
Articles
Information
Robotica , Volume 13 , Issue 6 , November 1995 , pp. 559 - 564
Copyright
Copyright © Cambridge University Press 1995

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References

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