| Hopf Oscillator-Based Gait Transition for A Quadruped Robot | |
Wei Xiao ; Wei Wang; Wang,Wei
| |
| 2014 | |
| 会议名称 | IEEE ROBIO 2014 |
| 会议录名称 | IEEE International Conference on Robotics and Biomimetics（ROBIO） |
| 页码 | 2074-2079 |
| 会议日期 | 2014 |
| 会议地点 | Bali, Indonesia |
| 摘要 | This paper concentrates on the gait transition of a quadruped robot. Animals move with different gaits to adapt to the change of terrains or just to save energy. A biomimetic robot should achieve this process in a smooth, continuous and energy efficient way. We propose a gait transition controller that can achieve needed phase difference between every two legs based on the Hopf oscillator. The quadruped robot has achieved biomimetic gait transitions from walk to trot and trot to gallop based on the proposed controller, and the two gait transitions of the opposite direction are the same by changing the control variables reversely. All of these processes have been verified on a simulated quadruped robot. The robot can achieve a normal velocity value for the walk, trot and gallop gait respectively. Both the walk to trot and trot to gallop gait transitions take only one second. We analyze the stability and some problems existing in the simulation and two gait transitions. |
| 关键词 | Quadruped Robot Gait Transition |
| 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/173211/5588 |
| 专题 | 综合信息系统研究中心 |
| 通讯作者 | Wang,Wei |
| 作者单位 | CASIA |
| 推荐引用方式 GB/T 7714 | Wei Xiao,Wei Wang,Wang,Wei. Hopf Oscillator-Based Gait Transition for A Quadruped Robot[C],2014:2074-2079. |
| 条目包含的文件 | 下载所有文件 | |||||
| 文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
| robio14-345.pdf（1549KB） | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 | ||
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