Beruflich Dokumente
Kultur Dokumente
Ma L i e
M a Peisun
Research I n n t i t u t e o f Robotics
Shanghai J i a o Tong U n i v e r s i t y
Shanghai 200030, P.R. China
ABSTRACT
This paper studies the realization of
turning gait contro1,taking a quadruped walking vehicle as the subject of the research.
Based on the analyses of previous works. a
kind of turning gait with the center of
gravity of the vehicle walking along mutiple
broken lines has been planned, which Is more
suitable for practical control than previous
methods. The process of the turning gait and
its feasibility are discussed in detail. The
turning gait presented in the paper is now
being implemented in the newly-develop&
omnidirectional quadruped walking
robot
JTUWH-11.
INTRODUCTION
PREVIOUS WORKS
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I
Fig.2 Position and Posture for a Period
of the Turnlng Gal t
\ w
Y
I
I
Fig.3 Locus of COG of the Vehicle along
Broken Lines
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t5 --> t 6 ; COG moves from C3 to C4 passing 12. C4 should be located within triangular F1(2)F2(2)F3(2)
and be at a distance
of s from 12. The corresponding coordinates
of four legs are:
. ( T1
cos r sin r
subscripts xi
I-sinr cos 7
, yi indicate that parameters are relative
to coordinate system of the vehicle xiciyi,
is the coordinate of COG
{x(ti)t Y(ti))
relative to coordinate system of the vehicle
at time ti-1.
where
1'
tl - - i t2:
The COG of the vehicle moves to
G2 passing I 1 under the suppoeting of four
legs. G2 is at a distance of s or more than
s from 11.
Correspondingly, the coordinates
of four legs relative to the coordinate
system at this time are:
i xi(t2)
yi (t2))
xr(t1) -(x(t2)
iyi ( t l ? ly(t2))
( i = 1 , 11, 111,
(3)
IY)
(4)
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Fig.(
2.
REFERENCES
1889.
6. S.Hirosel H.Kikuchi and Y.
Umetani, The
Standard Circular Gait of a Quadruped Walking
Vehicle,
Advanced Robots, Vol. 1,
No.2,
pp. 143-164s 1886.
.
7. H.X. Shunt
Research on the Quadruped
Walking Robot. Ph.D dissertation, 1888.
8. J.C. Du,
Simulation Research on
Transition Gaits of the Quadruped Walklng
Robot, Shanghai Jiao Tong University, Naster
dissertation, 1881.2.
CONCLUSION
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