| 摘要: |
|
| 关键词: |
| DOI： |
| Received:November 07, 2007Revised:April 10, 2008 |
| 基金项目: |
|
| Gait planning and intelligent control for a quadruped robot |
| Baoping WANG, Renxi HU, Xiaodong ZHANG, Chuangfeng HUAI |
| (Department of Mechanical and Electronic Engineering, Guangdong Baiyun University, Guangzhou Guangdong 510450, China; Department of Basic Courses, Ordnance Engineering College, Shijiazhuang Hebei 050003, China; School of Mechanical and Electronic Control Engineering, Beijing Jiaotong University, Beijing 100044, China) |
| Abstract: |
| We present a method for designing free gaits for a structurally symmetrical quadruped robot capable of performing statically stable, omnidirectional walking on irregular terrain. The robot’s virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. The deliberative-based controller can generate flexible sequences of leg transferences while maintaining walking speed, and choose optimum foothold for moving leg based on integration data of exteroceptive terrain profile. Simulation results are presented to show the gait’s efficiency and system’s stability in adapting to an uncertain terrain. |
| Key words: Structural symmetry Quadruped robot Gait planning Intelligent control Virtual model |
