Results 191 to 200 of about 451,017 (235)

Fuzzy-backstepping control of quadruped robots

Intelligent Service Robotics, 2020
In this paper, fuzzy-backstepping control method is utilized to control quadruped robots. The backstepping control method is inherently a stable control method since its design procedure is based on the Lyapunov stability theory. However, for an acceptable performance of this controller, the feedback gains must be appropriately selected.
Shabnam Shakourzadeh, Mohammad Farrokhi
openaire   +1 more source

A gait simulator for a quadruped walking robot

Robotica, 1992
SummaryThe description is provided for the design and implementation of a system capable of simulating the motions of a quadruped walking robot. The system aims to investigate the feasibility of the robot's walking cycle. This is achieved by considering the robot's stability and more specifically the position of its centre of gravity in relation to its
John Stoner, Robert H. Davis
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The Stability Analysis for Quadruped Bionic Robot

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006
In order to exactly evaluate the robot stability and stability margin while walking, one general criterion is proposed, which adopts the minimal distance from supporting edge to center of pressure on ground to estimate robot walking stability. This general criterion take many condition terms in consider such as disturb force and moment, height of ...
Pengfei Wang 0001, Lining Sun
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Gallop with speed change for quadruped robots

2011 IEEE International Conference on Robotics and Biomimetics, 2011
This paper proposes a method to change the speed of gallop for a quadruped robot by controlling the vertical ground reaction forces. For easy and stable galloping of a quadruped robot, the basic motion of each foot with respect to its main body is expressed by an elliptic path.
Seung Gyu Roh, Jong Hyeon Park
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Locomotion of a quadruped robot using CPG

2004 IEEE International Joint Conference on Neural Networks (IEEE Cat. No.04CH37541), 2005
It is well known that the rhythm generator mechanism called central pattern generator (CPG) controls rhythmic activities, such as locomotion, respiration, heart beat, etc. in biological systems, and various neuron models are proposed. The CPG has attractive features such that (i) it generates periodical signals persistently, (ii) return to the original
Takayuki Ishii, Seiji Masakado, Kamo Ishii   +2 more
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The Design of the Quadruped Robot

Advanced Materials Research, 2014
Through summarizing the quadruped walking style design quadruped robot, obtained using DH method analysis of the mechanism kinematics principle, designed for the continuity of the gait, and to add the 3 d model of constraint into ADAMS to verify, through the analysis of the displacement of the center of mass, joint torque, verify the rationality of the
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Active Impact Motion for a Quadruped Robot

2020 IEEE 16th International Conference on Automation Science and Engineering (CASE), 2020
In this paper, we propose a novel method of generating and executing active impact motion on a quadruped robot by mimicking active impact motion of quadruped animals. In order to generate active impact motion postures, we divide the whole active impact process into three phases and present a Center of Gravity (COG) trajectory planning method for these ...
Linlin Shang, Wei Wang 0115, Jianqiang Yi   +2 more
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Implementation of omnidirectional crawl for a quadruped robot

Advanced Robotics, 2001
As a reptile animal crawls in a cluttered environment, so a quadruped robot should be able to crawl on an irregular ground profile with its static stability by adopting the straightgoing and standstill-turning free gaits. The generalized and explicit formulations for the automatic generation of straight-going gaits and various standstill-turning gaits ...
Xuedong Chen, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi   +3 more
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A proposal of a quadruped robot platform for RoboCup

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97, 2002
We propose a legged robot platform for RoboCup based on OPENR, which is proposed as a standard architecture for Robot Entertainment, a new entertainment field devoted to autonomous robots. The platform will be provided as a complete autonomous agent so that researchers are able to start working within their research fields.
Masahiro Fujita, Koji Kageyama
openaire   +2 more sources

Static Gait Control for Quadruped Robot

2012
This paper presents a motion planning algorithm of static walking gait for a quadruped robot. First, the kinematics and dynamics equations of quadruped are built which can be used to research legged locomotion. Based on kinematics equations, foot trajectory is proposed with some optimization methods.
Hua Nie, Ronglei Sun, Xiaofeng Hong, Huang Xi   +3 more
openaire   +2 more sources