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Posture Stabilization Strategy for a Trotting Point-foot Quadruped Robot

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Abstract

This paper proposes a posture stabilization strategy for achieving the stable trot gait of a point-foot quadruped robot. Specifically, a stepping strategy (foot placement strategy) has been developed to achieve a stable trot gait. Because in the trot gait of a quadruped robot the diagonal legs can be considered to contact and leave the ground at the same time, the trot gait can be considered as a virtual biped gait. Based on the dynamic model of a virtual biped gait, the stepping point (or the foot placement) that achieves the stabilization of the robot is determined. Finally, the effectiveness of the proposed posture stabilization strategy is validated experimentally.

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Authors and Affiliations

  1. 1st R&D 3, Agency for Defense Development, Jochiwon-gil 462 Yuseong-gu, Daejeon, 305-152, Republic of Korea

    Jae-Wook Chung

  2. HUBO Laboratory, Humanoid Robot Research Center, Department of Mechanical Engineering, KAIST, 373-1 Guseong-dong Yuseong-gu, Daejeon, 305-701, Republic of Korea

    In-Ho Lee & Jun-Ho Oh

  3. School of Mechanical Systems Engineering, Kookmin University, 861-1, Jeongneung-dong, Seongbuk-gu, Seoul, 136-702, Republic of Korea

    Baek-Kyu Cho

Authors
  1. Jae-Wook Chung
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  2. In-Ho Lee
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  3. Baek-Kyu Cho
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  4. Jun-Ho Oh
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Correspondence to Baek-Kyu Cho.

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Chung, JW., Lee, IH., Cho, BK. et al. Posture Stabilization Strategy for a Trotting Point-foot Quadruped Robot. J Intell Robot Syst 72, 325–341 (2013). https://doi.org/10.1007/s10846-012-9812-4

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  • DOI: https://doi.org/10.1007/s10846-012-9812-4

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