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For a quadruped robot to implement steady moving on horizontal planes, avoiding the impact against the ground, a foot trajectory planning method underling low contact impact was presented. At first, kinematic model of the quadruped robot though D-H algorithm have been established. Then, the foot trajectories, which are continuous not only in displacements and velocities but also in accelerations,...
Gait planning is an important part of robotics research, and turning gait is an important and useful walking gait of a hexapod robot. But researches on turning gait of hexapod robots are limited. This paper presents the structure of a hydraulic hexapod walking robot. The coordinate of the leg is defined, and the positive and inverse kinematic equation of the leg is established. Foot trajectory based...
This paper presents the methodology used for finding the optimal set of foot trajectories for a quadruped robot using multiobjective genetic algorithm optimization. The optimization evaluates the energy per distance and average speed criteria on a robot simulation model. Robot locomotion is achieved by open-loop execution of foot trajectories generated in the local leg coordinate system. Foot trajectory...
The HapticWalker is a robotic walking simulator for neurological gait rehabilitation. The device is based on the end-effector principle, i.e. the patients' feet are fixed on two footplates, his trunk is secured via a suspension harness. The footplates (end-effectors) of the robot guide the feet of the patient on freely programmable trajectories. Currently two different training modes are provided...
In previous researches, most of biped robots have walked with their knees bent. However, a human walks without bending his or her knees, which defines ldquonaturalrdquo gaits. This is one of the significant differences between human locomotion and biped robot locomotion. This paper proposes a method to generate natural locomotion trajectory without bending knees but based on using a 2-DOF model of...
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