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In order to realize adaptive quadruped locomotion on terrains with different properties (such as surface friction or elasticity modulus), we plan to collect the foot-ground contact force and gyroscope information during locomotion on different ground substrates, then classify the ground substrates with the feature vector extracted from the collected data using Support Vector Machine (SVM) algorithm...
Central Pattern Generator (CPG) can be used to generate rhythmic control signals for quadruped locomotion, such as walk, trot, and gallop gait. The walk gait is a statically stable quadruped gait, and suitable for enhancing the robustness of robots. However, as a result of lacking consideration of dynamics characteristics of robots, the swing phase of control signals generated by CPG may be not consistent...
Quadruped robots are required to implement a fast transition between gaits in situations such as an abruptly increase in speed, an unexpected obstacle to stride over. Considering these situations, we propose a novel approach to achieve fast gait transition within a step cycle period of locomotion. This approach relies on the central pattern generators (CPGs) to produce rhythmic control signals, along...
In this paper we analyze characteristics of the ground reaction force (GRF) experienced by the legs of the quadruped robot during stance phase in walk gait, in particular, when the height of center of gravity (COG) of the quadruped robot is changeable. We also build the dynamics model of the quadruped robot. Two dynamics equations during swing phase and stance phase are established, respectively....
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