Paper Info
Title
Biologically inspired gait transition control for a quadruped walking robot
Abstract
The gait transition of a quadruped walking robot is the switching of gait with non-periodic gait sequences between the periodic ones such as from walk to trot or trot to walk etc. It is very much important because the robot should change its gait depending upon the moving speed to enhance the efficiency of locomotion. In this paper, we present a quasi-static gait transition control method for a quadruped walking robot. It is based on the observation on the locomotion behaviors of quadruped animals, which show a sudden and discrete changes of gait patterns depending on the speed. The method predefines gait transition patterns, and gait sequences are determined according to the current and desired leg postures. It can be useful because the applicable to any type of walking controller. In this study, we implement the proposed method on a self-contained quadruped walking robot, called Artificial Digitigrade for Natural Environment Version III (AiDIN-III), and its effectiveness is experimentally validated.
Year
DOI
Venue
2015
10.1007/s10514-015-9433-4
Autonomous Robots
Keywords
Field
DocType
Quadruped walking robot,Gait transition,Leg control,Sequence
Control theory,Gait,Computer science,Simulation,Effect of gait parameters on energetic cost,Gait (human),Robot,Digitigrade
Journal
Volume
Issue
ISSN
39
2
0929-5593
Citations 
PageRank 
References 
5
0.45
26
Authors
7
Name
Order
Citations
PageRank
Igmo Koo1213.08
Tran Duc Trong2212.31
Yoon Haeng Lee3224.32
Hyungpil Moon417538.32
Jachoon Koo56014.58
Sangdoek Park6141.71
Hyouk Ryeol Choi733760.51