Paper Info
Title
The design and control of a jointed-leg type of a quadrupedal robot for locomotion on irregular ground
Abstract
In this paper, a study of a quadrupedal walking robot capable of walking on the irregular ground is presented. The robot has specially-designed feet with toes making soft and safe landings on uneven surfaces. Using the toe angle and landing force sensors integrated within the feet, its gait control algorithm can adapt the foot trajectory to the ground profile, while the body weight is evenly distributed on the supporting legs. After the landing of a foot, the roll and pitch angles of the body are measured and controlled to keep the body attitude parallel to the plane of support. The contents of this study are the design concept and working principle of the foot, including the gait control algorithm for walk on the irregular ground. Experimental results are reported.
Year
DOI
Venue
1999
10.1017/S0263574799001496
Robotica
Keywords
DocType
Volume
landing force sensor,foot trajectory,specially-designed foot,jointed-leg type,ground profile,design concept,safe landing,gait control algorithm,quadrupedal robot,body attitude parallel,body weight,irregular ground
Journal
17
Issue
ISSN
Citations 
4
0263-5747
0
PageRank 
References 
Authors
0.34
7
4
Name
Order
Citations
PageRank
Yeh-Su Hong100.34
Hyoung-ki Lee26711.84
Soo-Yeong Yi3306.92
Chongwon Lee416129.37