By Topic

Teleoperation of a quadruped walking robot using an aperiodic gait that converges to a periodic gait

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Duck-Young Lee ; Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea ; Dong-Soo Kwon ; Soo-Yeong Yi ; Yeh-Sun Hong

Presents a gait control algorithm for teleoperation of a quadruped walking robot using gait convergence. A leg trajectory of the walking robot is generated in real-time according to the 3 DOF planar moving velocity command. Initially, the aperiodic gait is applied to follow the unpredictable command, since the periodic gait is known to be optimal and it requires an initial foot position. However, given an arbitrary initial foot position, the proposed algorithm leads the support pattern of the legs to converge from the aperiodic gait to a wave-crab gait or a wave-spinning gait. Further it avoids a deadlock after the directional change of the velocity command. The proposed algorithm has been applied to the walking robot, CENTAUR of KIST that has heavy legs and a large moving area of the gravity center. To compensate the moving gravity center, a sway motion is proposed to transfer the leg of which the kinematic margin is almost zero and the leg trajectory for the sway motion is overlapped with the operator command

Published in:

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference:

1999