| Zhao Danpu(赵旦谱),Wu Dan,Chen Ken.[J].高技术通讯(英文),2011,17(2):153~159 |
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| A gait generation and transition method for quadruped walking machine |
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| DOI： |
| 中文关键词: |
| 英文关键词: gait generation, transition, quadruped robot |
| 基金项目: |
| Author Name | Affiliation | | Zhao Danpu(赵旦谱) | | | Wu Dan | | | Chen Ken | |
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| 中文摘要: |
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| 英文摘要: |
| In nature, quadrupeds as horses or cats change their gait to be suited to their motion speed. This fact is very important to realize smooth motion with different gaits. In this article a method of the gait transition for the quadruped walking machine is proposed. With analyzing the accustomed gaits of quadruped, some standard gaits and the relationships between duty factor and the phasic differences of the legs corresponding to the first leg could be concluded. With this, the gaits transferring could be continuous. Besides, celerity and on line method for generation and modifying gaits is studied, which can make the robot have a smooth motion to adapt the uncharted rough terrain. |
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