Walking mode shifting control from biped standing to quadruped walking for a gorilla robot

SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603) Pub Date : 2001-07-25 DOI:10.1109/SICE.2001.977820

Wu Weiguo, Y. Hasegawa, T. Fukudai

引用次数: 5

Abstract

A gorilla robot with multiple locomotion modes including biped locomotion and quadruped walking is presented. As one of the important exchanging ways, the motion control problem for dynamic shifting from biped state to quadruped walking is investigated, and a control strategy as well as detailed method are proposed on the base of ZMP control and one by decreasing the two foreleg grounding force. Simulation with DADS and Simulink shows the effectiveness of the method.

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大猩猩机器人从两足站立到四足行走的行走模式转换控制

提出了一种具有两足行走和四足行走两种运动模式的大猩猩机器人。作为两足行走的重要交换方式之一，研究了两足行走向四足行走动态转换的运动控制问题，提出了一种基于ZMP控制和减小两前腿着地力控制的控制策略和具体方法。利用DADS和Simulink进行了仿真，验证了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)

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