Referenced Items are not available for this document.
In this paper, we propose a successive gait-transition method for a quadruped robot to realize omnidirectional static walking. The gait transition is successively performed among the crawl gaits and the rotation gaits, while the feet hold in common positions before and after gait transition. The gait-transition time is reduced by carefully designing the foot positions of the crawl gait and the rotation gait, while limiting the feet in rectangular reachable motion ranges. Computer simulations and experiments were executed to show the validity and the limitation of the proposed gait-transition method.
Published in:
Robotics, IEEE Transactions on
(Volume:21
,
Issue:
2
)
Date of Publication: April 2005
- Page(s):
- 152 - 161
- ISSN :
- 1552-3098
- INSPEC Accession Number:
- 8364964
- Digital Object Identifier :
- 10.1109/TRO.2004.835448
- Date of Current Version :
- 11 April 2005
- Issue Date :
- April 2005
- Sponsored by :
- IEEE Robotics and Automation Society
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