TY - GEN
T1 - Gait analysis of a quadruped walking robot with vertical waist-joint on slope
AU - Park, Sehoon
AU - Lee, Yun Jung
PY - 2009
Y1 - 2009
N2 - An essential consideration when analyzing the gait of walking robots is their ability to maintain stability during walking. Therefore, this study proposes a vertical waist-jointed walking robot and analyzing the gait to increase the gait stability margin while walking on a slope. First, the energy stability margin is compared according to the posture of the walking motion on a slope, Next, a vertical waist-jointed walking robot is modeled to analyze the stability margin, including two new parameters, the joint angle and position of the vertical waist-joint, to determine the center of gravity(COG) of the body during walking. Finally, a simulation is used to demonstrate the superiority of the proposed gait algorithm.
AB - An essential consideration when analyzing the gait of walking robots is their ability to maintain stability during walking. Therefore, this study proposes a vertical waist-jointed walking robot and analyzing the gait to increase the gait stability margin while walking on a slope. First, the energy stability margin is compared according to the posture of the walking motion on a slope, Next, a vertical waist-jointed walking robot is modeled to analyze the stability margin, including two new parameters, the joint angle and position of the vertical waist-joint, to determine the center of gravity(COG) of the body during walking. Finally, a simulation is used to demonstrate the superiority of the proposed gait algorithm.
KW - Discontinuous gait
KW - Energy stability margin
KW - Quadruped walking robot
KW - Slope gait
KW - Vertical waist-joint
UR - http://www.scopus.com/inward/record.url?scp=80051594191&partnerID=8YFLogxK
U2 - 10.3182/20090819-3-pl-3002.00088
DO - 10.3182/20090819-3-pl-3002.00088
M3 - Conference contribution
AN - SCOPUS:80051594191
SN - 9783902661555
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 507
EP - 512
BT - 14th International Conference on Methods and Models in Automation and Robotics, MMAR'09 - Proceedings
PB - IFAC Secretariat
ER -