Skip to main content
SpringerLink
Log in

An aperiodic straight motion planning method for a quadruped walking robot

  • Published:
Autonomous Robots Aims and scope Submit manuscript

Abstract

In even terrain, wave gait is the periodic gait having the optimal stability. In this paper, we focus on aperiodic forward straight motion having the lifting sequence of wave gait in order for quadruped to adapt to terrain and to have good moving capability. We investigated the condition of support pattern from which such gait motion can be generated. It is proved that from any support pattern satisfying the condition, it is always possible to transform the given support pattern to the support pattern of wave gait. An aperiodic gait planning method that adapt to terrain and maximize moving capability is proposed. A simulation result shows that the proposed method works well in rough terrain having forbidden areas.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  • Hirose, S. 1984. A Study of Design and Control of a Quadruped Walking Vehicle.International Journal of Robotics Research, 3(2):113–133.

    Google Scholar 

  • Hirose, S. and Kunieda, O. 1991. Generalized Standard Foot Trajectory for a Quadruped Walking Vehicle.International Journal of Robotics Research, 10(11):3–12.

    Google Scholar 

  • Hirose, S. and Yokoi, K. 1988. The Standing Posture Transformation Gait of a Quadruped Walking Vehicle.Advanced Robotics, 2(4):345–359.

    Google Scholar 

  • Lee, Y.J. and Bien, Z. 1994. A Hierarchical Strategy for Planning Crab Gaits of a Quadruped Walking Robot.Robotica, 12:23–31.

    Google Scholar 

  • McGhee, R.B. and Frank, A.A. 1968. On the Stability Properties of Quadruped Creeping Gaits.Mathematical Biosciences, 3:331–351.

    Google Scholar 

  • McGhee, R.B. and Iswandhi, G.I. 1979. Adaptive Locomotion of a Multilegged Robot over Rough Terrain.IEEE Trans. on S.M.C., 9:176–182.

    Google Scholar 

  • Pal, P.K. and Jayarajan, K. 1990. A Free Gait for Generalized Motion.IEEE Trans. on Robotics and Automation, 6:597–600.

    Google Scholar 

  • Pal. P.K. and Jayarajan, K. 1991. Generation of Free Gait—A Graph Search Approach.IEEE Trans. on Robotics and Automation, 7:299–305.

    Google Scholar 

  • Song, S.M. and Waldron, K.J. 1987. An Analytical Approach for Gait Study and its Application on Wave Gaits.International Journal of Robotics Research, 6(2):60–71.

    Google Scholar 

  • Song, S.M. and Waldron, K.J. 1989.Machine That Walk: The Adaptive Suspension Vehicle, MIT Press.

  • Zhang, C.D. and Song, S.M. 1990. Stability Analysis of Wave-Crab Gaits of a Quadrupe.Journal of Robotic System, 7(2):243–276.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Precision Engineering and Mechatronics, School of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), 373-1 Kusong-Dong, 305-701, Yusong-gu, Taejon, Korea

    Kyung-Min Jeong & Jun-Ho Oh

Authors
  1. Kyung-Min Jeong
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Jun-Ho Oh
    View author publications

    You can also search for this author in PubMed Google Scholar

Rights and permissions

Reprints and permissions

About this article

Cite this article

Jeong, KM., Oh, JH. An aperiodic straight motion planning method for a quadruped walking robot. Auton Robot 2, 29–41 (1995). https://doi.org/10.1007/BF00735437

Download citation

  • Issue Date:

  • DOI: https://doi.org/10.1007/BF00735437

Keywords

Search

Navigation