Adaptive gait control for a walking robot

1989 ◽  
Vol 6 (1) ◽  
pp. 49-76 ◽  
Author(s):  
Vijay R. Kumar ◽  
Kenneth J. Waldron
Keyword(s):  
Walking Robot ◽  
Gait Control ◽  
Adaptive Gait

scholarly journals Development of a Quadruped Walking Robot TITAN XI for Steep Slope Operation - Step Over Gait to Avoid Concrete Frames on Steep Slopes -

2007 ◽  
Vol 19 (1) ◽  
pp. 13-26 ◽  
Author(s):  
Ryuichi Hodoshima ◽  
◽  
Takahiro Doi ◽  
Yasushi Fukuda ◽  
Shigeo Hirose ◽  
...  
Keyword(s):  
Stability Margin ◽  
Walking Robot ◽  
Concrete Frames ◽  
Gait Control ◽  
Graphical Simulation ◽  
Quadruped Walking Robot ◽  
Sufficient Stability ◽  
Adaptive Gait ◽  
Step Over ◽  
Steep Slopes

We detail a step over gait for a quadruped walking robot that maintains a continuous walking with sufficient stability margin for avoiding ferroconcrete reinforcement frames covering steep slopes. For this gait, the robot must adapt itself to terrain and step over these frames. We propose a terrain-adaptive gait based on an intermittent crawl gait using map information. After introducing the gait control algorithm, we show results of graphical simulation to verify the proposed algorithm. Then, these discussions are established by walking experiments using the developed quadruped walking robot named TITAN XI.

scholarly journals Stability and Gait Planning of 3-UPU Hexapod Walking Robot

Robotics ◽  
2018 ◽  
Vol 7 (3) ◽  
pp. 48 ◽  
Author(s):  
Ruiqin Li ◽  
Hongwei Meng ◽  
Shaoping Bai ◽  
Yinyin Yao ◽  
Jianwei Zhang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Step Length ◽  
Parallel Robot ◽  
Search Method ◽  
Walking Robot ◽  
Gait Control ◽  
Gait Planning ◽  
Forward And Inverse Kinematics ◽  
Passing Ability

The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enabling the robot to walk with simple gait by very few motors. In this paper, forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrains.

scholarly journals Central pattern generator and feedforward neural network-based self-adaptive gait control for a crab-like robot locomoting on complex terrain under two reflex mechanisms

2017 ◽  
Vol 14 (4) ◽  
pp. 172988141772344 ◽  
Author(s):  
Gang Wang ◽  
Xi Chen ◽  
Shi-Kai Han
Keyword(s):  
Neural Network ◽  
Central Pattern Generator ◽  
Complex Terrain ◽  
Pattern Generator ◽  
Feedforward Neural Network ◽  
Control Technique ◽  
Gait Control ◽  
Generator System ◽  
Adaptive Gait ◽  
Self Adaptive

Although quite a few central pattern generator controllers have been developed to regulate the locomotion of terrestrial bionic robots, few studies have been conducted on the central pattern generator control technique for amphibious robots crawling on complex terrains. The present article proposes a central pattern generator and feedforward neural network-based self-adaptive gait control method for a crab-like robot locomoting on complex terrain under two reflex mechanisms. In detail, two nonlinear ordinary differential equations are presented at first to model a Hopf oscillator with limit cycle effects. Having Hopf oscillators as the basic units, a central pattern generator system is proposed for the waveform-gait control of the crab-like robot. A tri-layer feedforward neural network is then constructed to establish the one-to-one mapping between the central pattern generator rhythmic signals and the joint angles. Based on the central pattern generator system and feedforward neural network, two reflex mechanisms are put forward to realize self-adaptive gait control on complex terrains. Finally, experiments with the crab-like robot are performed to verify the waveform-gait generation and transition performances and the self-adaptive locomotion capability on uneven ground.

scholarly journals Gait Control of a Fully Actuated Walking Robot

2020 ◽  
Vol 53 (2) ◽  
pp. 9577-9583
Author(s):  
Sally Hui ◽  
Mohamed Al Lawati ◽  
Mireille E. Broucke
Keyword(s):  
Walking Robot ◽  
Gait Control

scholarly journals Adaptive Gait for Quadruped Walking Robot Using Force Sensor Attached in Foot.

1991 ◽  
Vol 9 (6) ◽  
pp. 707-717 ◽  
Author(s):  
Hironori ADACHI ◽  
Noriho KOYACHI ◽  
Tatsuya NAKAMURA ◽  
Eiji NAKANO
Keyword(s):  
Force Sensor ◽  
Walking Robot ◽  
Quadruped Walking Robot ◽  
Adaptive Gait
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