Abstract
This paper presents a full description of the design of a trot locomotion that has been implemented on AIBO quadrupeds in the Sony legged league. This work is inspired by the UNSW achievements in RoboCup 2000 and 2001 in Melbourne and Seattle. The French team rebuilt a complete trot locomotion from scratch, and introduced special features that differ from the Australian original design. Many papers have already been dedicated to the work on quadruped locomotion [2-4]. However they do not detail all the parts of the design.
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References
Hugel, V.: On the Control of Legged Locomotion Applied to Hexapod and Quadruped Prototypes, PhD Thesis (in French), Université de Paris VI (November1999)
Hensgt, B., Ibbotson, D., Bao Pham, S., Sammut, C.:The UNSW United 2000 Sony Legged Robot Software System, School of Computer Science and Engineering, University of New South Wales RoboCup SONY legged league report (2000)
Veloso, M., Lenser, S., Vail, D., Roth, M., Stroupe, A., Chernova, S.: CMPack 2002: CMU’s Legged Robot Soccer Team, Carnegie Mellon University, 2002 RoboCup SONY legged league report (2002)
Upenn, IROS 2001 Hawai. Chitta, S., OStrowski, J.P.: New Insights into Quasistatic and Dynamic Omnidirectional Quadrupedal Walking, IROS (2001)
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© 2004 Springer-Verlag Berlin Heidelberg
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Hugel, V., Blazevic, P., Stasse, O., Bonnin, P. (2004). Trot Gait Design Details for Quadrupeds. In: Polani, D., Browning, B., Bonarini, A., Yoshida, K. (eds) RoboCup 2003: Robot Soccer World Cup VII. RoboCup 2003. Lecture Notes in Computer Science(), vol 3020. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-25940-4_44
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DOI: https://doi.org/10.1007/978-3-540-25940-4_44
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-22443-3
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