NDLI: Gait planning of the quadruped walking chair robot with parallel leg mechanism

Content Provider	IEEE Xplore Digital Library
Author	Hongbo Wang Delei Fang Lingfeng Sang Yun Wang Yuehua Wen Na Chen
Copyright Year	2013
Description	Author affiliation: Parallel Robot & Mechatron. Syst. Lab. of Hebei Province, Yanshan Univ., Qinhuangdao, China (Hongbo Wang; Delei Fang; Lingfeng Sang; Yun Wang; Yuehua Wen; Na Chen)
Abstract	According to walking requirements, combining modularization and reconfigurable ideas, a quadruped/biped reconfigurable walking robot with parallel leg mechanism has been proposed. In this paper, considering the dimension optimization and structural constraints of the walking chair robot, the walking step length is obtained firstly. After that, based on walking requirements and stability of body mechanism, the translational gait is planned. Furthermore, the walking chair's static stability is analyzed through the stability margin of the parallel robot. Finally the workspaces of the swing leg and the whole mechanism are calculated to verify the correctness and effectiveness of gait planning. The gait planning research on quadruped walking chair robot lays a theoretical foundation for experiment of the prototype.
Starting Page	13
Ending Page	18
File Size	1786080
Page Count	6
File Format	PDF
ISBN	9781467355575
e-ISBN	9781467355605
DOI	10.1109/ICMA.2013.6617886
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-08-04
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Robot kinematics Planning Gravity Stability criteria quadruped walking chair static stability parallel leg mechanism gait planning
Content Type	Text
Resource Type	Article

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