Research on Gait Planning of Quadruped Robot in Straight and Turning
Aiming at the straight and turning movements of quadruped robots， the gait based on the crawling gait is separately planned. The concept of coordinated rotating gait is proposed and used it in in-situ turning. The common point of the foot trajectory of the straight gait and the turning gait on the s...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-09-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.09.007 |
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| author | Dan Wang Deke Zhou Jiaqi Yang |
| author_facet | Dan Wang Deke Zhou Jiaqi Yang |
| author_sort | Dan Wang |
| collection | DOAJ |
| description | Aiming at the straight and turning movements of quadruped robots， the gait based on the crawling gait is separately planned. The concept of coordinated rotating gait is proposed and used it in in-situ turning. The common point of the foot trajectory of the straight gait and the turning gait on the spot is found， and then this point is used to realize the rapid migration of the gait and use it in the turning motion of the quadruped robot. According to the structure design of the quadruped robot in the early stage， a virtual prototype of a quadruped robot is established. A new evaluation criterion—angle margin criterion （SA criterion） is proposed to evaluate the stability of its planned gait， so as to find the optimal gait. A test platform is set up for testing， and the results showed that the gait planning for straight and turning is reasonable and feasible. |
| format | Article |
| id | doaj-art-a584987f05d54cb88b478249efa0d254 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-09-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-a584987f05d54cb88b478249efa0d2542025-01-10T14:48:06ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-09-0145475518849411Research on Gait Planning of Quadruped Robot in Straight and TurningDan WangDeke ZhouJiaqi YangAiming at the straight and turning movements of quadruped robots， the gait based on the crawling gait is separately planned. The concept of coordinated rotating gait is proposed and used it in in-situ turning. The common point of the foot trajectory of the straight gait and the turning gait on the spot is found， and then this point is used to realize the rapid migration of the gait and use it in the turning motion of the quadruped robot. According to the structure design of the quadruped robot in the early stage， a virtual prototype of a quadruped robot is established. A new evaluation criterion—angle margin criterion （SA criterion） is proposed to evaluate the stability of its planned gait， so as to find the optimal gait. A test platform is set up for testing， and the results showed that the gait planning for straight and turning is reasonable and feasible.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.09.007Quadruped robotGait planningGait migrationCoordinated rotation gaitAngle margin criterion |
| spellingShingle | Dan Wang Deke Zhou Jiaqi Yang Research on Gait Planning of Quadruped Robot in Straight and Turning Jixie chuandong Quadruped robot Gait planning Gait migration Coordinated rotation gait Angle margin criterion |
| title | Research on Gait Planning of Quadruped Robot in Straight and Turning |
| title_full | Research on Gait Planning of Quadruped Robot in Straight and Turning |
| title_fullStr | Research on Gait Planning of Quadruped Robot in Straight and Turning |
| title_full_unstemmed | Research on Gait Planning of Quadruped Robot in Straight and Turning |
| title_short | Research on Gait Planning of Quadruped Robot in Straight and Turning |
| title_sort | research on gait planning of quadruped robot in straight and turning |
| topic | Quadruped robot Gait planning Gait migration Coordinated rotation gait Angle margin criterion |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.09.007 |
| work_keys_str_mv | AT danwang researchongaitplanningofquadrupedrobotinstraightandturning AT dekezhou researchongaitplanningofquadrupedrobotinstraightandturning AT jiaqiyang researchongaitplanningofquadrupedrobotinstraightandturning |