Results 201 to 210 of about 451,017 (235)

Slip-adaptive walk of quadruped robot

Robotics and Autonomous Systems, 2005
Abstract In this paper, we investigated the effects of the friction condition on walking pattern and energy efficiency, and based on the results, we proposed two new “slip-adaptive” strategies for generating a slip-adaptive walk. The first strategy for a slip-adaptive walk uses a slip reflex via a Central Pattern Generator (CPG) to change the walking
Hiroshi Takemura, Masato Deguchi, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara   +4 more
openaire   +2 more sources

Mechanical Design of an Agile Quadruped Robot

Agile quadrupedal robotic platforms have become a commercial reality and are widespread in research laboratories. Nevertheless, the freedom to experiment with high performance on these commercial devices is impaired by restrictions to access and customise the low-level layers of their hardware and software.
Del Bianco, Edoardo, Kashiri, Navvab, Roveri, Marco, Tsagarakis, Nikos G.   +3 more
openaire   +1 more source

Level Trot Gait in Quadruped Robots

Proceedings of Conference on Advances In Robotics, 2013
In this paper, we investigate conditions for constant height level trotting of quadruped robots and determine their specific resistance based on mechanical work done by individual leg actuators. We show that the minimum norm solution for actuator forces leads to a gait with deceleration and acceleration.
P. Murali Krishna, R. Prasanth Kumar, S. Srivastava   +2 more
openaire   +1 more source

Model-based bounding on a quadruped robot

2016 IEEE International Conference on Robotics and Automation (ICRA), 2016
We report on the development of a robot's dynamic bounding locomotion based on a sagittal plane model that fits the robot's natural dynamics. The proposed model, referred to as the Two-rolling-leg (TRL) model, is a low degree-of-freedom planar rigid-body model with two rolling and compliant legs.
Chun-Kai Huang, Chung-Li Chen, Chia-Jui Hu, Pei-Chun Lin   +3 more
openaire   +2 more sources

Research on the Structure of Quadruped Robots

2021 6th International Conference on Control, Robotics and Cybernetics (CRC), 2021
Bole Zeng, Haoran Zhang
openaire   +2 more sources

Dynamics of a quadruped robot during locomotion

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014), 2014
In this paper we analyze characteristics of the ground reaction force (GRF) experienced by the legs of the quadruped robot during stance phase in walk gait, in particular, when the height of center of gravity (COG) of the quadruped robot is changeable. We also build the dynamics model of the quadruped robot.
Xiaoqi Li 0006, Wei Wang 0115, Jianqiang Yi, Hongjian Zhang   +3 more
openaire   +1 more source

Leader Recognition and Tracking for Quadruped Robots

2018 IEEE International Conference on Information and Automation (ICIA), 2018
To meet the high requirement of human-machine interaction, quadruped robots with human recognition and tracking capability are studied in this paper. We first introduce a marker recognition system which uses multi-thread laser scanner and retro-reflective markers to distinguish the robot’s leader and other objects.
Hui Zhang 0040, Haiying Liu, Lixia Deng, Pei Wang, Xuewen Rong, Yibin Li 0001, Bin Li 0042, Haiyan Wang   +7 more
openaire   +2 more sources

Design of quadruped walking and climbing robot

Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), 2004
This paper describes an integrated approach for the design of a quadruped robot, called "MRWALLSPECT III (multifunctional robot for wall inspection version 3)", which walks in planes as well as climb walls with suction pads. Since the robot is expected to be able to move from wall to wall to plane including negotiating convex or concave corners, a ...
Taehun Kang, Hyung Seok Kim, Taeyoung Son, Hyoukryeol Choi   +3 more
openaire   +1 more source

Temporal gait control of a quadruped robot

Robotics and Autonomous Systems, 2000
Abstract The design and control of a four-legged robot for operation on vertical surfaces is described. The requirement that the robot trajectory be continually modifiable on-line in response to external sensor data is addressed with the development of a temporal gait control strategy.
C. C. Brown, Jan Paul Huissoon
openaire   +1 more source

Design and analysis of a bionic quadruped robot

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2013
In this article, design of bionic quadruped, mainly focusing on leg design, is given and force analysis of the mechanism is calculated and simulated. To better improve the design, force on sole and torque on joints should be diminished to increase the mobility and capacity of the robot.
Siyu Chen, Xuedong Chen, Zhijiang Liu, Xin Luo 0004   +3 more
openaire   +2 more sources