NDLI: A study on an adaptive gait for a quadruped walking robot under external forces

Content Provider	IEEE Xplore Digital Library
Author	Dong-Oh Kang Yun-Jung Lee Seung-Ha Lee Yeh Sun Hong Zeungnam Bien
Copyright Year	1997
Description	Author affiliation: Dept. of Elec. Eng., Korea Adv. Energy Res. Inst., Daejeon, South Korea (Dong-Oh Kang)
Abstract	In this presentation we propose an algorithm for the adaptive gait control by which a quadruped walking robot can walk against external disturbances. The proposed gait mechanism makes it possible for a quadruped walking robot to change its gait pattern in response to external disturbances from various external forces acting on the body of the walking robot. More specifically, we propose a new criterion for the stability margin of a walking robot under unknown external forces by using the effective mass center based on the zero moment point. And for the solution of the adaptive gait algorithm against external disturbances, a method of altitude control and reflexive direction control is suggested. Based on the algorithmic search method, an optimal stride of the quadruped walking robot that walks from any leg configuration to the standard configuration is also proposed. To verify the efficiency of the proposed approach, some simulation results are provided.
Starting Page	2777
Ending Page	2782
File Size	506271
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.606707
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Robot sensing systems Service robots Leg Programmable control Adaptive control Sun Stability criteria Effective mass Search methods
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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