[1]MA Hongwen,WANG Liquan,ZHONG Zhi,等.A desired landing points walking method enabling a planner quadruped robot to walk on rough terrain[J].智能系统学报,2011,6(5):464-469.
MA Hongwen,WANG Liquan,ZHONG Zhi,et al.A desired landing points walking method enabling a planner quadruped robot to walk on rough terrain[J].CAAI Transactions on Intelligent Systems,2011,6(5):464-469.
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MA Hongwen,WANG Liquan,ZHONG Zhi,et al.A desired landing points walking method enabling a planner quadruped robot to walk on rough terrain[J].CAAI Transactions on Intelligent Systems,2011,6(5):464-469.
A desired landing points walking method enabling a planner quadruped robot to walk on rough terrain
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
6
期数:
2011年第5期
页码:
464-469
栏目:
学术论文—人工智能基础
出版日期:
2011-10-30
- Title:
- A desired landing points walking method enabling a planner quadruped robot to walk on rough terrain
- 文章编号:
- 1673-4785(2011)05-0464-06
- 分类号:
- TP242.6
- 文献标志码:
- A
- 摘要:
- It is necessary for legged robots to walk stably and smoothly on rough terrain. In this paper, a desired landing points (DLP) walking method based on preview control was proposed in which an offline foot motion trace and an online modification of the trace were used to enable the robot to walk on rough terrain. The online modification was composed of speed modification, foot liftingoff height modification, step length modification, and identification and avoidance of unsuitable landing terrain. A planner quadruped robot simulator was used to apply the DLP walking method. The correctness of the method was proven by a series of simulations using the Adams and Simulink.
- Abstract:
- It is necessary for legged robots to walk stably and smoothly on rough terrain. In this paper, a desired landing points (DLP) walking method based on preview control was proposed in which an offline foot motion trace and an online modification of the trace were used to enable the robot to walk on rough terrain. The online modification was composed of speed modification, foot liftingoff height modification, step length modification, and identification and avoidance of unsuitable landing terrain. A planner quadruped robot simulator was used to apply the DLP walking method. The correctness of the method was proven by a series of simulations using the Adams and Simulink.
- 参考文献/References:
-
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备注/Memo
Received Data： 2010-03-31.
?Foundation Item： This work was supported in part by the National Natural Science Foundation of China under Grant 60875067, the Natural Science Foundation of Heilongjiang Province under Grant F200602, and the Technical Innovation Talent Foundation of Harbin under Grant 2010RFQXG010.
Corresponding Author： MA Hongwen. E-mail: mahongwen@hrbeu.edu.cn.
About the authors：
MA Hongwen received a B.S. degree in automobile engineering in 1995 form Jilin University of Technology, Changchun, China.
WANG Liquan was born in Hebei, China in 1957. He received a PhD in control theory and control engineering from Harbin Engineering University (HEU). He is currently employed by HEU as a professor.?
?ZHONG Zhi received B.S. and M.S. degrees in communications engineering and a Ph.D. degree in instruments and instrumentation engineering, all from Harbin Institute of Technology, Harbin, China, in 1999, 2001, and 2005 respectively.
更新日期/Last Update:
2011-11-16