Feedforward and feedback dynamic trot gait control for quadruped walking vehicle

Autonomous Robots

Volumn 12, Issue 2, 2002, Pages 157-172

  Kurazume, Ryo ^a   Yoneda, Kan ^b   Hirose, Shigeo ^b  

^a UNIVERSITY OF TOKYO   (Japan)

^b TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

Attitude control; Energy efficiency; Quadruped robot; Swing legs control; Trot gait; ZMP

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; COMPUTER SIMULATION; ENERGY EFFICIENCY; FEEDBACK CONTROL; MOTION PLANNING;

QUADRUPED WALKING AIDS; SWING LEGS CONTROL;

ROBOTS;

EID: 0036496146     PISSN: 09295593     EISSN: None     Source Type: Journal    
DOI: 10.1023/A:1014045326702     Document Type: Article

References (20)

1. Study of walking robot for 3 dimensional terrain
2. Development of quadruped walking robot TITAN-VIII
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5. What price speed?
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7. A study of design and control of a quadruped walking vehicle
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9. Toward the development of practical quadrupe walking vehicles
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14. A study of the gait control of a quadruped walking vehicle
15. Gait planning for energy efficiency in walking machines
16. Dynamically stable quadruped locomotion (a pace gait in the COLT-3)
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18. Intermittent trot gait of a quadruped walking machine dynamic stability control of an omnidirectional walk
19. Sky-hook suspention control of a quadruped walking vehicle