LOCOMOTION
Omni-directional Walking of a Quadruped Robot on a Slope
Lei Zhang, Shugen Ma, Yukio Honda, Kazuya Inoué
- Year
- 2005
- Citations
- 9
Abstract
In this study, we discuss omni-directional walking of a quadruped robot to walk on a slope. A method for successive gait-transition on a slope with specified body posture is introduced. Using this method, a trade-off between the moving speed and the body posture has been verified. Simulations and experiments showed that the proposed method for stable slope walking of a quadruped robot is valid
Keywords
RobotGaitComputer scienceEffect of gait parameters on energetic costSimulationRobot kinematicsControl theory (sociology)Mobile robotGait analysisArtificial intelligence
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