Autonomous gait transition method for pacing four-legged robots

Autonomous gait transition method for pacing four-legged robots

This study aims to suggest a method for achieving an autonomous gait transition according to speed for a four-legged robot pacing at medium speeds. Our quadruped robot is simply designed and applies a central pattern generator (CPG) for each leg. Each leg is controlled by a PD controller based on a...

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Bibliographic Details
Main Authors: Takahiro FUKUI, Souichiro MATSUKAWA, Yasuhiro FUKUOKA
Format: Article
Language:Japanese
Published: The Japan Society of Mechanical Engineers 2019-01-01
Series:Nihon Kikai Gakkai ronbunshu
Subjects:
quadruped robot
pace gait
gait transition
central pattern generator
vestibular sensory feedback
general purpose method
Online Access:https://www.jstage.jst.go.jp/article/transjsme/85/870/85_18-00360/_pdf/-char/en

Internet

https://www.jstage.jst.go.jp/article/transjsme/85/870/85_18-00360/_pdf/-char/en

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