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Gait synthesis for quadruped robot walking up and down slope

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2 Author(s)
Pan, J. ; Shanghai Jiao Tong Univ., Shanghai, China ; Junshi Cheng

The authors study motion laws of a quadruped robot in environments which are concerned with slope, i.e. from slope to level, from a slope to another slope. The authors unify a slope recognition and gradient measuring method for all environments which are concerned with slope. The three rules which are used to recognize a slope are proven. The authors study prediction of posture after body turn and posture adjustment before body turn, the stability and maximum step length of a quadruped robot in transition area

Published in:

Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on  (Volume:1 )

Date of Conference:

26-30 Jul 1993