Quadruped robots are often in the state of dynamically stable. But in certain extreme circumstances, static stability is required in the locomotion of quadruped robots. Based on the DST(Double-Support Triangle) theory, this paper designed two kinds of COG(Center of Gravity) and swing leg tip trajectories with crawl gait, and proposed an optimized crawl gait using ZMP(Zero-Moment Point) stability criterion. The design and crawl gait planning ensures the static stability in quadruped robots' locomotion, and it's validated in Matlab and RecurDyn environment.


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    Title :

    Quadruped robot crawl gait planning based on DST


    Contributors:
    Chen, Binbin (author) / Li, Shaoyuan (author) / Huang, Dan (author)


    Publication date :

    2014-07-01


    Size :

    540447 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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