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 |
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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 |
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Country/Territory | 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