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Inspired by gecko's movement characteristics, we proposed a gecko inspired climbing robot, which is based on the GPL (Gecko inspired mechanism with a Pendular waist and Linear legs) model. In this paper, further research is made to analysis its gait and continuity. We optimist the driving angle to maintain the cyclical movement. Furthermore, the issues related configuration and motion planning are...
A novel quadruped walking robot with four identical serial-parallel legs of four degrees of freedom was designed, which has both big workspace and high movement accuracy. Based on the hybrid leg of the quadruped walking robot, the trajectory planning of the foot end was carried out. According to the trajectory, the driving function of the motors was calculated by MATLAB and the kinematics simulation...
In this paper, we propose a gait transition strategy for a quadruped robot using the Hopf Oscillator model and trajectory planning. The Hopf Oscillator model is used to generate rhythmic moving pattern during trot gait, and trajectory planning based on the Stability Margin (SM) is employed to implement walk gait as well as the transition between walk gait and trot gait. Especially, we develop a moving...
In this paper, stable hopping of a one-legged, articulated robot with a flat foot is investigated. The robot has a special feature that before taking off, it goes through an underactuated phase in which the foot rotates about the unactuated toe on the ground. By having the underactuated phase, the robot can perform stable human-like hops with longer hopping distances. To devise a systematic trajectory...
In this paper, a bipedal locomotion planning with double support phase based on linear inverted pendulum (LIPM) is proposed. In order to achieve the desired center of gravity (COG) position and velocity in walking motion of the bipedal robot, in calculation of COG trajectory in double support phase, 5 dimension polynomial is used to realize the desired motion. Foot placement and COG trajectory are...
Stability fulfilment for biped robots is drastically essential. Thus, to predict and maintain a dynamic stable status of biped robots defining an accurate stability measure is required which can represent dynamic equilibrium condition. Several postural stability metrics have been proposed so far. In this article, the Moment-Height stability (MHS) measure which has been previously proposed for wheeled...
A non-time reference gait planning method is proposed. The usual reference variable, time, is substituted by a non-time variable in gait, so the whole gait-planning phase can be divided into two phases, (1) planning the space walking path: Taking the forward locomotion of upper-body as reference variable, considering the constraint of the environment, the walking path of a robot without collision...
This paper proposes a new method of trajectory planning for biped robots walking on level ground. In this approach, the hip and foot trajectories are designed in Cartesian space using polynomial interpolation. The key parameters which define the trajectories are searched by genetic algorithm. The objective is to obtain the best trajectory that has large stability margin and low energy consumption...
Designing smooth and stable trajectories for control of the biped robots is a challenging problem that is the focus of this article. A desired trajectory for the lower body will be designed to alleviate the impacts due to contact with the ground. This is obtained by fitting proper polynomials at appropriate break points. Then, planning the upper body motion is accomplished based on the zero moment...
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