This paper presents the gait design and comparison study of a quadruped robot. The main contributions of this paper are: (i) Explore the modularized system design of an 8 degree-of-freedom quadruped robot with a power management system. (ii) Propose a gait design method based on drive function. (iii) Propose another gait design method based on foot trajectory. (iv) The simulation of the walk and trot gaits with above-mentioned methods are validated in Webots. (v) The walk and trot gait are successfully implemented in the real robot. Experimental results show that the stable locomotion can be achieved with improved elliptical foot trajectory.


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    Title :

    Gait design and comparison study of a quadruped robot


    Contributors:
    Zhou, Liguang (author) / Qian, Huihuan (author) / Xu, Yangsheng (author) / Liu, Wan (author)


    Publication date :

    2017-07-01


    Size :

    2965665 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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