A Stable Walking Strategy of Quadruped Robot Based on Foot Trajectory Planning
文献类型：会议论文
| 作者 | Liu MM(刘明敏) ; Xu F(徐方); Jia K(贾凯); Yang, Qifeng; Tang, Chong
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| 出版日期 | 2016 |
| 会议名称 | 3rd International Conference on Information Science and Control Engineering, ICISCE 2016 |
| 会议日期 | July 8-10, 2016 |
| 会议地点 | Beijing, China |
| 关键词 | quadruped robot kinematic gait planning foot trajectory steering and straight line movement |
| 页码 | 799-803 |
| 通讯作者 | 刘明敏 |
| 中文摘要 | 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, was scheduled based on the walking gait. Lastly, the steering and straight line movements of the robot were simulated, simulation experiments show that the quadruped robot motion stably on horizontal planes without impact and sliding. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | Beijing University of Civil Engineering and Architecture; China Jiliang University; et al.; The University of Texas at San Antonio (UTSA); University of Hull; Xiamen University |
| 会议录 | Proceedings - 2016 3rd International Conference on Information Science and Control Engineering, ICISCE 2016
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5090-2535-0 |
| WOS记录号 | WOS:000390690700165 |
| 源URL | [http://ir.sia.cn/handle/173321/19516]  |
| 专题 | 沈阳自动化研究所_其他 |
| 推荐引用方式 GB/T 7714 | Liu MM,Xu F,Jia K,et al. A Stable Walking Strategy of Quadruped Robot Based on Foot Trajectory Planning[C]. 见:3rd International Conference on Information Science and Control Engineering, ICISCE 2016. Beijing, China. July 8-10, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
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