Kinematics-based Gait Planning of a Quadruped Gecko-like Model

摘要：

Recent research on mobile robots is focused on locomotion in various environments. In this paper gait generation algorithm for a mobile robot that can locomote from ground to wall and climb vertical surfaces is proposed bioinspired by a gecko lizard. The gait planning is based on the inverse-kinematics with the Jacobian of whole body, where the redundancy is solved by dening an object function to follow the real gecko posture and avoid collisions with the surface. The optimal scalar factor for these two objects is obtained by dening a superior object function that is to minimize the angular acceleration. The algorithm was veried through simulation of the gecko model locomoting given task paths avoiding abnormal joint movements and collisions.

作者: Doyoung Chang Donghun Son TaeWon Seo Woochul Nam Dongsu Jeon Jongwon Kim

作者单位: School of Mechanical and Aerospace Engineering,Seoul Natl Univ.,Seoul,Republic of Korea Department of Mechanical Engieering,Carnegie Mellon Univ.,PA,USA taewon

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 233-238

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）