Quadruped robot omni-directional walking on a slope based on static balance
Quadruped robot is widely developed on the basis of bionic technology and has good structural stability and flexibility in uneven terrain.It is required of the quadruped robot to keep static balance while transportation task is executed.In this paper,first,the unstable problems during static walking on a slope have been analyzed in detail,and the stability criterion which considering affections of slope walking environment has been proposed.Based on static balance,the falling over problem and tumbling around the line connecting two support feet during gait transition problem have been solved.The gaits are planned to ensure omni-directional stable walking on a slope.Through walking experiments by computer simulation,the validity of the proposed method has been verified.
Quadruped Robot Walking on a slope Static Balance Gait Planning
Wen-yu Zhang Lei Zhang
Institute of Command Automation,PLA University of Science and Technology,Nanjing,Jiangsu Province,Ch Department of Engineering,Ocean University of China,Qingdao,Shandong Province,China
国际会议
广州
英文
1436-1440
2012-11-16（万方平台首次上网日期，不代表论文的发表时间）