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Foot end trajectory with small oscillation generation method of the adjustable stiffness active flexible joint robot | IEEE Conference Publication | IEEE Xplore

Foot end trajectory with small oscillation generation method of the adjustable stiffness active flexible joint robot


Abstract:

In the foot trajectory planning of quadruped robot with active variable stiffness of flexible joint, the existence of the flexible joints makes quadruped robot legs oscil...Show More

Abstract:

In the foot trajectory planning of quadruped robot with active variable stiffness of flexible joint, the existence of the flexible joints makes quadruped robot legs oscillate in swing phase. In this case, this paper proposes a joint stiffness coefficient adjustment strategy and a new foot trajectory generation method. Simulation experiments show that this method can effectively reduce the volatility of legs in swing phase.
Date of Conference: 03-07 December 2016
Date Added to IEEE Xplore: 02 March 2017
ISBN Information:
Conference Location: Qingdao, China

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