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
3. Bounce gait control of a quadruped robot
4. Realization of bounce gait in a quadruped robot with articlar-joint-type legs
5. What price speed?
6. Trotting gait of a quadruped robot based on reaction wheel model (in Japanese)
7. A study of design and control of a quadruped walking vehicle
8. Adaptive gait control of a quadruped walking vehicle
9. Toward the development of practical quadrupe walking vehicles
10. Dynamic and static fusion gait of a quadruped walking vehicle
11. Dynamics in the dynamic walk of a quadruped robot
12. Force interaction and allocation for the legs of a walking vehcle
13. Optimul force distribution for the legs of a walking machine with friction cone constraints
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)
17. Dynamic and static fusion gait of a quadruped walking vehicle on a winding path
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