Posture Stabilization Strategy for a Trotting Point-foot Quadruped Robot

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This paper proposes a posture stabilization strategy for achieving the stable trot gait of a point-foot quadruped robot. Specifically, a stepping strategy (foot placement strategy) has been developed to achieve a stable trot gait. Because in the trot gait of a quadruped robot the diagonal legs can be considered to contact and leave the ground at the same time, the trot gait can be considered as a virtual biped gait. Based on the dynamic model of a virtual biped gait, the stepping point (or the foot placement) that achieves the stabilization of the robot is determined. Finally, the effectiveness of the proposed posture stabilization strategy is validated experimentally.
Publisher
SPRINGER
Issue Date
2013-12
Language
English
Article Type
Article
Keywords

WHEELED INVERTED PENDULUMS; MOTION/FORCE CONTROL; MOBILE MANIPULATORS; WALKING

Citation

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, v.72, no.3-4, pp.325 - 341

ISSN
0921-0296
DOI
10.1007/s10846-012-9812-4
URI
http://hdl.handle.net/10203/188465
Appears in Collection
ME-Journal Papers(저널논문)
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