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Omnidirectional static walking of a quadruped robot
Ma SG(马书根); Tomiyama, T.; Wada, H.
Source PublicationIEEE Transactions on Robotics
Volume21Issue:2Pages:152- 161
Indexed BySCI ; EI ; CPCI(ISTP)
EI Accession number2005209097789
WOS IDWOS:000228337900002
Contribution Rank1
KeywordCrawl Gait Omnidirectional Walking Quadruped Robot Rotation Gait Static Walking Successive Gait Transition
AbstractIn this paper, we propose a successive gait-transition method for a quadruped robot to realize omnidirectional static walking. The gait transition is successively performed among the crawl gaits and the rotation gaits, while the feet hold in common positions before and after gait transition. The gait-transition time is reduced by carefully designing the foot positions of the crawl gait and the rotation gait, while limiting the feet in rectangular reachable motion ranges. Computer simulations and experiments were executed to show the validity and the limitation of the proposed gait-transition method.
WOS HeadingsScience & Technology ; Technology
WOS SubjectRobotics
WOS Research AreaRobotics
Citation statistics
Cited Times:57[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Affiliation1.Department of Systems Engineering, Faculty of Engineering, Ibaraki University, Ibaraki-Ken 316-8511, Japan
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.Toshiba Tec Corp., Tokyo 101-8442, Japan
4.System Technology Corp., Tokyo 101-8442, Japan
Recommended Citation
GB/T 7714
Ma SG,Tomiyama, T.,Wada, H.. Omnidirectional static walking of a quadruped robot[J]. IEEE Transactions on Robotics,2005,21(2):152- 161.
APA Ma SG,Tomiyama, T.,&Wada, H..(2005).Omnidirectional static walking of a quadruped robot.IEEE Transactions on Robotics,21(2),152- 161.
MLA Ma SG,et al."Omnidirectional static walking of a quadruped robot".IEEE Transactions on Robotics 21.2(2005):152- 161.
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