Statically Stable Gait Synthesis Algorithm For 4-legged Walking Robot Based On The Ground Reaction Forces Determination
| Autor: | Damian Krawczyk, Andrzej Globisz |
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| Rok vydání: | 2018 |
| Předmět: |
Sequence
Robot kinematics Computer science Stable gait ComputingMethodologies_ARTIFICIALINTELLIGENCE Computer Science::Robotics Center of gravity Gait (human) Robot ComputerSystemsOrganization_SPECIAL-PURPOSEANDAPPLICATION-BASEDSYSTEMS Ground reaction force MATLAB Algorithm computer ComputingMethodologies_COMPUTERGRAPHICS computer.programming_language |
| Zdroj: | 2018 19th International Conference on Research and Education in Mechatronics (REM). |
| Popis: | ${q}$There is a stable gait synthesis algorithm for 4-legged walking robot presented in the paper. The algorithm is based on the known location of the robot center of gravity which is derived from the distribution of ground reaction forces. The statically stable gait synthesis is considered. The general gait algorithm and the algorithm for legs sequence choosing as well as the algorithm for the center of gravity shifting were implemented in Matlab environment. The results of simulation for a complete gait period are presented. |
| Databáze: | OpenAIRE |
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