Open document
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General information |
| Author |
Parasuraman, S.; Hang, F. J.; Khan, M. K. A. Ahamed |
| Published |
InTech Open Access Publisher, 2012
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| Abstract |
This paper presents a new statically balanced
walking technique for a robot‐crawler. The gait design
and the control of the robot crawler aim to achieve
stability while walking. This statically balanced gait has
to be designed in a different fashion to a wheeled robot,
as there are discrete changes in the support of the robot
when its legs are lifted or placed on the ground. The
stability of the robot depends on how the legs are
positioned relative to the body and also on the sequence
and timing with which the legs are lifted and placed. In
order to reduce the risk of stability loss while walking, a
measure for the robot stability (so‐called stability margin)
is typically used in the gait and motion planning. In this
paper different biological behaviours of four‐legged
animals are studied and mapped on a quad‐legrobotcrawler.
Experiments were carried out on the forward
walking gaits of lizards and horses. Based on these
results, the stability margins of different gaits are
discussed and compared. |
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International Journal of Advanced Robotic Systems
Author: 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, [...]
Published: 2004
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