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Omnidirectional static walking of a quadruped robot
文献类型：期刊论文
| 作者 | Ma SG(马书根) ; Tomiyama, T.; Wada, H.
|
| 刊名 | IEEE Transactions on Robotics
 |
| 出版日期 | 2005 |
| 卷号 | 21期号:2页码:152- 161 |
| 关键词 | crawl gait omnidirectional walking quadruped robot rotation gait static walking successive gait transition |
| ISSN号 | 1552-3098 |
| 产权排序 | 1 |
| 中文摘要 | In this paper, we propose a successive gait-transition method for a quadruped robot to realize omnidirectional static walking. The gait transition is successively performed among the crawl gaits and the rotation gaits, while the feet hold in common positions before and after gait transition. The gait-transition time is reduced by carefully designing the foot positions of the crawl gait and the rotation gait, while limiting the feet in rectangular reachable motion ranges. Computer simulations and experiments were executed to show the validity and the limitation of the proposed gait-transition method. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | VEHICLE |
| 收录类别 | SCI ; EI ; CPCI（ISTP） |
| 语种 | 英语 |
| WOS记录号 | WOS:000228337900002 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7385]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Ma SG,Tomiyama, T.,Wada, H.. Omnidirectional static walking of a quadruped robot[J]. IEEE Transactions on Robotics,2005,21(2):152- 161. |
| APA | Ma SG,Tomiyama, T.,&Wada, H..(2005).Omnidirectional static walking of a quadruped robot.IEEE Transactions on Robotics,21(2),152- 161. |
| MLA | Ma SG,et al."Omnidirectional static walking of a quadruped robot".IEEE Transactions on Robotics 21.2(2005):152- 161. |
入库方式： OAI收割
来源：沈阳自动化研究所
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