Temporal gait control of a quadruped robot

The design and control of a four-legged robot for operation on vertical surfaces is described. The requirement that the robot trajectory be continually modifiable on-line in response to external sensor data is addressed with the development of a temporal gait control strategy. The ensuing gait autom...

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Bibliographic Details
Published in:Robotics and autonomous systems 2000-03, Vol.30 (4), p.305-314
Main Authors: Brown, C.C., Huissoon, J.P.
Format: Article
Language:English
Subjects:
Gait control
Quadruped climbing robot
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Summary:The design and control of a four-legged robot for operation on vertical surfaces is described. The requirement that the robot trajectory be continually modifiable on-line in response to external sensor data is addressed with the development of a temporal gait control strategy. The ensuing gait automatically converges to various classical gaits for straight-line, turning and spinning maneuvres, and naturally accommodates transitions between these. Simulation results are presented to demonstrate the performance of this control strategy.
ISSN:0921-8890
1872-793X
DOI:10.1016/S0921-8890(99)00094-9