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Informations générales |
| Auteur |
RunBin, Cai; YangZhen, Chen; Hou WenQi; Jiang, Wang; Hongxu, Ma |
| Publié |
InTech Open Access Publisher, 2013
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| Abstract |
We present the Time-Pose control method for
the trotting gait of a quadruped robot on flat ground and
up a slope. The method, with brief control structure, realtime
operation ability and high adaptability, divides
quadruped robot control into gait control and pose
control. Virtual leg and intuitive controllers are
introduced to simplify the model and generate the
trajectory of mass centre and location of supporting legs
in gait control, while redundancy optimization is used for
solving the inverse kinematics in pose control. The
models both on flat ground and up a slope are fully
analysed, and different kinds of optimization methods
are compared using the manipulability measure in order
to select the best option. Simulations are performed,
which prove that the Time-Pose control method is
realizable for these two kinds of environment. |
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International Journal of Advanced Robotic Systems
Auteur: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publié: 2004
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