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Controller-Switching Based Gait Transition for a Quadruped Robot
Huang Zhuhui; Wang Wei; Wang, Wei
2016
Conference Name2016 IEEE International Conference on Mechatronics and Automation
Source PublicationProceedings of 2016 IEEE International Conference on Mechatronics and Automation
Pages653-658
Conference Date2016
Conference PlaceHarbin, China
AbstractIn this paper, we propose a gait transition strategy for a quadruped robot using the Hopf Oscillator model and trajectory planning. The Hopf Oscillator model is used to generate rhythmic moving pattern during trot gait, and trajectory planning based on the Stability Margin (SM) is employed to implement walk gait as well as the transition between walk gait and trot gait. Especially, we develop a moving sequence based on SM to control the transition, and the method can completes gait transition along with switches between conventional trajectory planning controller and Central Pattern Generator (CPG) based on Hopf Oscillator. So the quadruped robot can achieve the stable transition between walk gait and trot gait, and the transition approach can achieve switches between controllers. Finally, we conduct the simulation and the results are discussed. Both the walk-to-trot and trot-to-walk transitions can be achieved within less than one second.
KeywordQuadruped Robot Gait Transition Hopf Oscillator Trajectory Planning
Indexed ByEI
Language英语
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12431
Collection智能感知与计算研究中心
Corresponding AuthorWang, Wei
AffiliationInstitute of Automation Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Huang Zhuhui,Wang Wei,Wang, Wei. Controller-Switching Based Gait Transition for a Quadruped Robot[C],2016:653-658.
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