| Autor: |
Jia Xueyan, Huai Chuangfeng, Shu Ying-jiang |
| Rok vydání: |
2017 |
| Předmět: |
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| Zdroj: |
2017 29th Chinese Control And Decision Conference (CCDC). |
| DOI: |
10.1109/ccdc.2017.7979385 |
| Popis: |
Focusing on sudden instability of quadruped robots in practice that results from lateral impact, this paper designs a balance recovery basic algorithm based on roll compensated by the support leg's stretch and foothold searched by the swing leg's step, and then three balance recovery strategies are proposed: the strategy of the support leg adjusting attitude, the strategy of the swing leg stepping and the strategy of two kinds of legs combined. In the end the rationality and viability of the proposed strategies are verified by the results of the Adams simulation experiments. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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