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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Chang-Hoi Kim Ho-Cheol Shin Heung-Ho Lee |
| Copyright Year | 2013 |
| Description | Author affiliation: Electr. Eng. Div., Chungnam Nat. Univ., Daejeon, South Korea (Heung-Ho Lee) || Nucl. Technol. Convergence Div., KAERI, Daejeon, South Korea (Chang-Hoi Kim; Ho-Cheol Shin) |
| Abstract | Research into the gait planning of a walking robot is the underlying development of quadruped robots. Despite the efforts in stable gait planning, many walking robots that have been developed thus far do not have enough ability to adapt to uneven territory. In this paper, we acquired the motion data of the trotting lizards using the motion capture equipment and analyzed the gait systematically. In addition, we applied it to the kinematic model of the lizard and acquired the trajectory of each joint through an inverse kinematic solution. Moreover, we proposed the joint space-based gait of the lizard model by approximating the acquired joint trajectory to a sinusoidal function. We verified through the simulation that the proposed gait faithfully follows actual gait of lizards. |
| Sponsorship | IEEE Ind. Electron. Soc. |
| Starting Page | 1247 |
| Ending Page | 1251 |
| File Size | 1487069 |
| Page Count | 5 |
| File Format | |
| ISBN | 9788993215052 |
| ISSN | 20937121 |
| DOI | 10.1109/ICCAS.2013.6704140 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2013-10-20 |
| Publisher Place | South Korea |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Legged locomotion Analytical models Motion Capture Thigh Lizard Kinematic Model Pelvis Elbow Gait planning |
| Content Type | Text |
| Resource Type | Article |
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