Abstract
In this article, the method for increasing dynamic stability of quadruped robot is proposed. Previous researches on dynamic walking of quadruped robots have used only walking pattern called central pattern generator (CPG). In this research, different from walking generation with only CPG, a instinctive stability measure called landing accordance ratio, is proposed and used for increasing dynamic stability. In addition, dynamic balance control and control to adjust walking trajectory for increasing dynamic stability measure is also proposed. Proposed methods are verified with dynamic simulation and a large number of experiments with quadruped robot platform.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
de Santos PG, Garcia E (2006) Quadrupedal locomotion. Springer, Berlin
Arikawa K, Hirose S (1996) Development of quadruped walking robot TITAN-VIII. In: Proceedings of the IEEE international conference on intelligent robots and systems
Hirose S et al (2001) Normalized energy stability margin and its contour of walking vehicles on rough terrain. In: Proceedings of the IEEE international conference on robotics and automation
Garcia E, de Santos PG (2005) An improced energy stability margin for walking machines subject to dynamic effects. Robotica 23: 13–20
Pongas D, Mistry M (2007) A robust quadruped walking gait for traversing rough terrain. In: Proceedings of the IEEE international conference on robotics and automation
Hosoda K (2000) Emergence of quadruped walk by a combination of reflexes. In: Proceedings of the international symposium on adaptive machine control
Hiroshi K, Masayoshi K (2003) Local obstacle recognition for a quadruped robot by distance sensors. In: Proceedings of the IEEE international conference on robotics, intelligent systems and signal processing
Kimura H et al (2007) Adaptive dynamic walking of a quadruped robot on natural ground based on biological concepts. Int J Robot Res 26: 275–290
Matsuoka K (1987) Mechanisms of frequency and pattern control in the neural rhythm generators. Biol Cybern 56: 345–353
Alexander RM (1984) The gaits of bipedal and quadrupedal animals. Int J Robot Res 3: 49–59
Lee DV et al (2004) Effects on mass distribution on the mechanics of level trotting in dogs. J Exp Biol 207: 1715–1728
Orlovsky GN, Deliagina TG (2003) Neuronal control of locomotion. Oxford University Press, New York
Sekimoto M, Arimoto S (2006) Experimental study on reaching movements of robot arms with redundant DOFs based upon virtual spring-damper hypothesis. In: Proceeding of the IEEE international conference of intelligent robots and systems
Lee DV, Bertram JEA (1999) Acceleration and balance in trotting dogs. J Exp Biol 202: 3565–3573
Goldfinger E (2004) Animal anatomy for artists. Oxford University Press, New York
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Won, M., Kang, T.H. & Chung, W.K. Gait planning for quadruped robot based on dynamic stability: landing accordance ratio. Intel Serv Robotics 2, 105–112 (2009). https://doi.org/10.1007/s11370-009-0038-7
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11370-009-0038-7