{"title":"四足机器人跨越平面障碍物的步态规划","authors":"X. Wu, X. Shao, Wei Wang","doi":"10.1109/ROBIO.2013.6739541","DOIUrl":null,"url":null,"abstract":"Locomotion on rough terrain is a critical and basic capability for quadruped robots. In this paper, we present a gait planning approach of crossing planar obstacles for a quadruped robot. The system is composed by rhythmic motion generation and gait planning algorithm. Rhythmic motion generation is mainly composed of two parts: the Central Pattern Generator (CPG) model based on the Holf oscillator to output the standard oscillation signals and the motion amplitude adjustment for controllable oscillation amplitudes of the negative part and positive part. The gait planning algorithm outputs a sequence set of footholds that guarantees the stability and validity of locomotion. The experimental results on a real quadruped robot prove the feasibility and effectiveness of our system in unstructured terrain.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Gait planning of crossing planar obstacles for a quadruped robot\",\"authors\":\"X. Wu, X. Shao, Wei Wang\",\"doi\":\"10.1109/ROBIO.2013.6739541\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Locomotion on rough terrain is a critical and basic capability for quadruped robots. In this paper, we present a gait planning approach of crossing planar obstacles for a quadruped robot. The system is composed by rhythmic motion generation and gait planning algorithm. Rhythmic motion generation is mainly composed of two parts: the Central Pattern Generator (CPG) model based on the Holf oscillator to output the standard oscillation signals and the motion amplitude adjustment for controllable oscillation amplitudes of the negative part and positive part. The gait planning algorithm outputs a sequence set of footholds that guarantees the stability and validity of locomotion. The experimental results on a real quadruped robot prove the feasibility and effectiveness of our system in unstructured terrain.\",\"PeriodicalId\":434960,\"journal\":{\"name\":\"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO.2013.6739541\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2013.6739541","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Gait planning of crossing planar obstacles for a quadruped robot
Locomotion on rough terrain is a critical and basic capability for quadruped robots. In this paper, we present a gait planning approach of crossing planar obstacles for a quadruped robot. The system is composed by rhythmic motion generation and gait planning algorithm. Rhythmic motion generation is mainly composed of two parts: the Central Pattern Generator (CPG) model based on the Holf oscillator to output the standard oscillation signals and the motion amplitude adjustment for controllable oscillation amplitudes of the negative part and positive part. The gait planning algorithm outputs a sequence set of footholds that guarantees the stability and validity of locomotion. The experimental results on a real quadruped robot prove the feasibility and effectiveness of our system in unstructured terrain.