An Adaptive Gait for Quadruped Robots to Walk on a Slope

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

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 conference › Paper › peer-review

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 language	English
Pages	589-594
Number of pages	6
Publication status	Published - 2003 Dec 26
Event	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States Duration: 2003 Oct 27 → 2003 Oct 31

Other

Other	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country	United States
City	Las Vegas, NV
Period	03/10/27 → 03/10/31

ASJC Scopus subject areas

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

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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.",

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AU - Konno, Atsushi

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AU - Hwang, Yoonkwon

AU - Inohira, Eiichi

AU - Uchiyama, Masaru

PY - 2003/12/26

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N2 - 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.

AB - 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.

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An Adaptive Gait for Quadruped Robots to Walk on a Slope

Abstract

Other

ASJC Scopus subject areas

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