An Adaptive Gait for Quadruped Robots to Walk on a Slope

Atsushi Konno, Katsuhisa Ogasawara, Yoonkwon Hwang, Eiichi Inohira, Masaru Uchiyama

    Research output: Contribution to conferencePaperpeer-review

    19 Citations (Scopus)

    Abstract

    This paper proposes an adaptive intermittent crawl gait for quadruped robots to walk on a slope. In the proposed method, the inclination of a floor is estimated in real time by the displacement of the projection of the center of gravity from the nominal position. Depending upon the estimated inclination, the gait is changed in order to gain the longitudinal stability margin. Experiments and dynamic simulations are performed to validate the proposed method. The results are presented and discussed.

    Original languageEnglish
    Pages589-594
    Number of pages6
    Publication statusPublished - 2003 Dec 26
    Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
    Duration: 2003 Oct 272003 Oct 31

    Other

    Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
    CountryUnited States
    CityLas Vegas, NV
    Period03/10/2703/10/31

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

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