Identyfikatory
Warianty tytułu
Języki publikacji
Abstrakty
The method of two-legged diagonal gait synthesis for the quadruped robot is introduced. The problem of dynamic postural equilibration taking into account the role of compliant feet is solved. The equilibrium conditions are split to the feet attachments points and the points within the feet-end area. In simulation example the slip avoidance condition is tested. Presented method has the meaning for motion synthesis taking into account the robot parameters and - for the design of the feet considering the dynamically stable gaits. The method was proved by using simulations and experiments.
Rocznik
Tom
Strony
3--7
Opis fizyczny
Bibliogr. 16 poz., rys.
Twórcy
autor
autor
- Profesor at the Institute of Aeronautics and Applied Mechanics (WUT-IAAM), Warsaw University of Technology, ul.Nowowiejska 24, 00-665 Warsaw, Poland, teresaz@meil.pw.edu.pl
Bibliografia
- [1] Gardner J.F., “Efficient Computation of Force Distribution for Walking Machines on Rough Terrain”,Robotica,vol. 10, no. 5, 1992, pp. 427-433.
- [2] Garcia E., Galvez J.A., Gonzalez de Santos P., “On Finding the Relevant Dynamics for Model-Based Controlling Walking Robots”,Journal of Intelligent and Robotic Systems, vol.37, issue 4, 2003, pp. 375 -398.
- [3] Klein C.A, Kittivatcharapong S., “Optimal Force Distribution for the Legs of a Walking machine with Friction Cone Constraints”,IEEE Trans. on Robotics and Automation , vol. 6, no. 1, 1990, pp. 73-85.
- [4] Martins-Filho L.S., Prajoux R., “Locomotion Control of a Four-legged Robot Embedding Real-time Reasoning in the Force Distribution”,Robotics and Autonomous Systems, vol. 32, 2000, pp. 219-235.
- [5] Pfeiffer F., Eltze J., Weidemann H.J., “Six-legged Walking Considering Biological Principles”,Robotics and Autonomous Systems, vol. 14, 1995, pp. 223-232.
- [6] Spenneberg D., Albrecht M., Backhaus T., Hilljegerdes J., Kirchner F., Strack A., and Schenker H.,“Aramies: A four-legged Climbing and Walking Robot”. In: Proc. of 8th International Symposium iSAIRAS, Munich, September 2005 (CD ROM).
- [7] Takemura H., Deguchi M., Ueda J., Matsumoto Y.,Ogasawara T., “Slip-adaptive Walk of Quadruped Robot”,Robotics and Autonomous Systems, vol. 53, 2005, pp. 124-141.
- [8] Trojnacki M., „Motion Description of Quadruped Robot”, Zeszyty Naukowe Politechniki Rzeszowskiej, no. 222, Rzeszów 2005, pp. 357-364 (in Polish).
- [9] Trojnacki M., “The Modeling, Programming and Computer Simulation of Motion for a Four-legged Robot”. In: Projektowanie Mechatroniczne, Ed. T.Uhl, Wydawnictwo Instytutu Technologii Eksploatacji PIB: Kraków 2006, pp. 149-160.
- [10] Zhou D., Low K.H., Zieliska T., “An Efficient Footforce Distribution Algorithm for Quadruped Walking Robots”,Robotica, vol.18, 2000, pp. 403-413.
- [11] Zielińska T., Trojnacki M., “Motion Synthesis of Dynamically Stable Two-legged Gait for a Quadruped Robot. Theoretical Considerations (1)”,PAR , no. 11, 2007, pp. 5-11 (in Polish).
- [12] Zielińska T.,Walking Machines: Fundamentals, Design,Control and Biological Patterns, PWN: Warsaw,2003, (in Polish).
- [13] Zielińska T., Heng J., “Mechanical Design of Multifunctional Quadruped”,Mechanism and Machine Theory, vol.38, 2003, pp. 463-478.
- [14] Zielińska T.,Motion Synthesis. In Walking: Biological and Technological Aspects, CISM Courses and Lectures, no. 467. Ed. by Pfeiffer F., Zielinska T., Springer Verlag, 2004, pp. 151-187.
- [15] Zielińska T., “Control and Navigation Aspects of a Group of Walking Robots”,Robotica, Cambridge University Press, vol.24, 2006, pp. 23-29.
- [16] Zielińska T., Heng J., “Real-time Control System for a Group of Autonomous Walking Robots”,Advanced Robotics, vol.20, no.5, 2006, pp. 543-561.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-article-BUJ6-0028-0001