| Controller-Switching Based Gait Transition for a Quadruped Robot | |
Huang Zhuhui ; Wang Wei; Wang, Wei
| |
| 2016 | |
| 会议名称 | 2016 IEEE International Conference on Mechatronics and Automation |
| 会议录名称 | Proceedings of 2016 IEEE International Conference on Mechatronics and Automation |
| 页码 | 653-658 |
| 会议日期 | 2016 |
| 会议地点 | Harbin, China |
| 摘要 | In 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. |
| 关键词 | Quadruped Robot Gait Transition Hopf Oscillator Trajectory Planning |
| 收录类别 | EI |
| 语种 | 英语 |
| 文献类型 | 会议论文 |
| 条目标识符 | http://ir.ia.ac.cn/handle/173211/12431 |
| 专题 | 智能感知与计算研究中心 |
| 通讯作者 | Wang, Wei |
| 作者单位 | Institute of Automation Chinese Academy of Sciences |
| 第一作者单位 | 中国科学院自动化研究所 |
| 推荐引用方式 GB/T 7714 | Huang Zhuhui,Wang Wei,Wang, Wei. Controller-Switching Based Gait Transition for a Quadruped Robot[C],2016:653-658. |
| 条目包含的文件 | ||||||
| 文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
| zhuhuihuangICMA2016.（592KB） | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 | ||
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