Quadruped free gait generation based on the primary/secondary gait

Robotica

Volumn 17, Issue 4, 1999, Pages 405-412

  Bai, Shaoping ^a,b   Low, K H ^a,b   Zielinska, Teresa ^a,b  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

^b WARSAW UNIVERSITY OF TECHNOLOGY   (Poland)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; BIOMECHANICS; COLLISION AVOIDANCE; CONSTRAINT THEORY; GAIT ANALYSIS; KINEMATICS; MOTION PLANNING; UNIVERSAL JOINTS;

FREE GAIT GENERATION; KINEMATIC CONSTRAINT; LEG END POSITION; LEG TRANSFERS; PRIMARY GAIT; SECONDARY GAIT; SEQUENTIAL CONSTRAINT; STABILITY CONSTRAINT; WALKING MACHINES;

ANTHROPOMORPHIC ROBOTS;

EID: 0032677849     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0263574799001599     Document Type: Article

References (10)

1. W. Lee and D.E. Orin, "Omnidirectional supervisory control of a multilegged vehicle using periodic gaits," IEEE Journal of Robotics and Automation 4(6), 635-642 (1988).
2. Robert B. McGhee and A.A. Frank, "On the stability properties of quadruped creeping gaits," Mathematical Bioscience 3, 331-351 (1968).
3. S.M. Song and K.J. Waldron, Machines that Walk: The Adaptive Suspension Vehicle (The MIT Press, Cambridge, Mass., London, 1989).
4. R.B. McGhee and G.I. Iswandhi, "Adaptive locomotion of a multilegged robot over rough terrain," IEEE Transactions on Systems, Man, and Cybernetics 9(4), 176-182 (1979).
5. S. Hirose, Y. Fukuda and H. Kikuchi, "The gait control system of a quadruped walking vehicle," Advanced Robotics 4(4), 289-323 (1986).
6. P.K. Pal and K. Jayarajan, "Generation of free gait - a graph search approach," IEEE Transactions on Robotics and Automation 7(3), 299-305 (1991).
7. S. Salmi and A. Halme, "Implementing and testing a reason-based free gait algorithm in the six-legged walking machine, MECANT," Control Engineering Practice 4(4), 487-492 (1996).
8. S. Hirose, H. Kikuchi and Y. Umetani, "The standard circular gait of a quadruped walking vehicle," Advanced Robotics 1(2); 143-164 (1986).
9. A. Morecki and T. Zielinska, Walking Machines and Elastic Manipulators. (IPPT Polish Academy of Sciences, edition supported by CISM, IFToMM, Udine, Italy, Polish-English joint edition 1991).
10. Shaoping Bai, Debao Zhou, K.H. Low, Gerald Sect and T. Zielinska, "Simulation of hexapod kinematics dedicated to modelling of machine movement," Proceedings of the Fifth International Conference on Control, Automation, Robotics and Vision, Singapore (1998) pp. 514-518.