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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...
Ability of quadruped robots for adjusting posture for crossing natural obstacles is an important issue. These robots should change their footholds to avoid any obstacles. In this paper, a gait planning algorithm based on Cartesian CPG-based controller for a quadruped robot in order to cross different planar obstacles will be developed. In proposed approach, the rhythmic patterns in central pattern...
The gait planning is essential in the sampling-based footstep planning of biped robot. However, conventional gait planning methods of Zero Moment Point and neural networks are much time-consuming, and existing central pattern generator (CPG) based method can only generate the gait of going forward. Based on the phase and trajectory analysis, this paper proposes a modified gait planning method based...
Locomotion on rough terrain is a critical and basic capability for quadruped robots. In this paper, we present a gait planning approach of crossing planar obstacles for a quadruped robot. The system is composed by rhythmic motion generation and gait planning algorithm. Rhythmic motion generation is mainly composed of two parts: the Central Pattern Generator (CPG) model based on the Holf oscillator...
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