Gait Transition of Quadruped Robot Using Time Sequence Control Based on Finite-State Machine
作者： An Liu , Xiao Yu Zhang , Kai Ge Zhang
DOI: 10.4028/WWW.SCIENTIFIC.NET/AMM.423-426.2799
关键词: Transition (fiction) 、 Touchdown 、 Robot 、 Event (computing) 、 Finite-state machine 、 Simulation 、 Gait (human) 、 Control (management) 、 Synchronization 、 Engineering
摘要: The adaptability of velocity changing quadruped robot needs to be realized by gait transition. In this paper, a transition method based on the time sequence was investigated. swing phase and stance are separated finite-state machine (FSM), locomotion involves breaking/enforcing synchronization or order leg liftoff events, it makes duration touchdown events variable. from walk trot is combination driving event. experiment verified interactive co-simulation among Matlab-Adams. satisfies robot.
sci-hub.se 参考文章(7)
Eadweard Muybridge, Anita Ventura Mozley, Muybridge's Complete human and animal locomotion : all 781 plates from the 1887 Animal locomotion ,(1979)
Kenneth J. Waldron, Shin-Min Song, Machines That Walk: The Adaptive Suspension Vehicle NASA STI/Recon Technical Report A. ,vol. 89, pp. 31423- ,(1988)
S Aoi, T Yamashita, A Ichikawa, K Tsuchiya, Hysteresis in gait transition induced by changing waist joint stiffness of a quadruped robot driven by nonlinear oscillators with phase resetting intelligent robots and systems. pp. 1915- 1920 ,(2010) , 10.1109/IROS.2010.5650447
David E. Orin, Supervisory Control of a Multilegged Robot The International Journal of Robotics Research. ,vol. 1, pp. 79- 91 ,(1982) , 10.1177/027836498200100404
Marc H. Raibert, Trotting, pacing and bounding by a quadruped robot Journal of Biomechanics. ,vol. 23, pp. 79- 98 ,(1990) , 10.1016/0021-9290(90)90043-3
Jian-Nan Lin, Shin-Min Song, Modeling gait transitions of quadrupeds and their generalization with CMAC neural networks systems man and cybernetics. ,vol. 32, pp. 177- 189 ,(2002) , 10.1109/TSMCC.2002.804446
Eadweard Muybridge, Descriptive zoopraxography, or, The science of animal locomotion made popular / by Eadweard Muybridge ; with selected outline tracings reduced from some of the illustrations of "Animal locomotion" an electro-photographic investigation of consecutive phases of animal movements, co University of Pennsylvania,. ,(1893) , 10.5962/BHL.TITLE.6478