NDLI: New insights into quasi-static and dynamic omnidirectional quadrupedal walking

Content Provider	IEEE Xplore Digital Library
Author	Chitta, S. Ostrowski, J.P.
Copyright Year	2001
Description	Author affiliation: Gen. Robotics Automation, Sensing & Perception Lab., Univ. of Pennsylvania, Philadelphia, PA, USA (Chitta, S.)
Abstract	This paper presents several new insights and experimental results on the problem of generating omnidirectional walking gaits for quadrupedal robots. For statically stable gaits, by placing some minor restrictions on how the leg motions are generated, we develop an easily computable classification of the best gait patterns (leg phasings) to be used for any given motion. This simple geometric construction allows easy generation of stable, omnidirectional walking gaits for any quadruped satisfying only some very weak assumptions about the location of the center of mass relative to the workspace of the legs. It is also well-suited to a modular approach in which the control of individual legs is decentralized. We also implement an omnidirectional dynamic trot gait using a similar approach. Transitions involving a change in the direction of motion of the robot are initiated at one of two fixed points of the foot placement curves for each leg in all gaits. Experimental data is presented showing the effectiveness of these techniques.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	2306
Ending Page	2311
File Size	603102
Page Count	6
File Format	PDF
ISBN	0780366123
DOI	10.1109/IROS.2001.976414
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Leg Robotics and automation Robot sensing systems Laboratories Foot Pattern analysis Tracking Springs
Content Type	Text
Resource Type	Article

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