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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
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.
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