Integration of posture and rhythmic motion controls in quadrupedal dynamic walking using phase modulations based on leg loading/unloading

Autonomous Robots

Volumn 28, Issue 3, 2010, Pages 331-353

  Maufroy, Christophe ^a,b   Kimura, Hiroshi ^b   Takase, Kunikatsu ^c  

^a FRIEDRICH SCHILLER UNIVERSITY JENA   (Germany)

^b KYOTO INSTITUTE OF TECHNOLOGY   (Japan)

^c UNIVERSITY OF ELECTRO COMMUNICATIONS   (Japan)

Author keywords

Central pattern generator; Gait and posture; Leg loading unloading; Perturbations; Phase modulations; Quadrupedal walking

Indexed keywords

CENTRAL PATTERN GENERATOR; CONTROL METHODS; COORDINATION MECHANISMS; DYNAMIC WALKING; FRONTAL PLANES; INVERTED PENDULUM; LEGGED LOCOMOTION; LOADING AND UNLOADING; LOW SPEED; REAL ROBOT; RHYTHMIC MOTION; RHYTHMIC MOTION CONTROL; ROLLING MOTION; SAGITTAL PLANE; SPEED RANGE; STEPPING REFLEX; SWING PHASE; TRAJECTORY GENERATION; UNEVEN TERRAIN; WALKING SPEED;

DYNAMICS; FLIGHT CONTROL SYSTEMS; MOTION CONTROL; MOTION PLANNING; PHASE MODULATION; PHASE TRANSITIONS; UNLOADING;

CONTROLLERS;

EID: 77952095231     PISSN: 09295593     EISSN: None     Source Type: Journal    
DOI: 10.1007/s10514-009-9172-5     Document Type: Article

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