Controller-Switching Based Gait Transition for a Quadruped Robot

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	Controller-Switching Based Gait Transition for a Quadruped Robot
	Huang Zhuhui; Wang Wei; Wang, Wei
	2016
会议日期	2016
会议地点	Harbin, China
关键词	Quadruped Robot Gait Transition Hopf Oscillator Trajectory Planning
页码	653-658
英文摘要	In this paper, we propose a gait transition strategy for a quadruped robot using the Hopf Oscillator model and trajectory planning. The Hopf Oscillator model is used to generate rhythmic moving pattern during trot gait, and trajectory planning based on the Stability Margin (SM) is employed to implement walk gait as well as the transition between walk gait and trot gait. Especially, we develop a moving sequence based on SM to control the transition, and the method can completes gait transition along with switches between conventional trajectory planning controller and Central Pattern Generator (CPG) based on Hopf Oscillator. So the quadruped robot can achieve the stable transition between walk gait and trot gait, and the transition approach can achieve switches between controllers. Finally, we conduct the simulation and the results are discussed. Both the walk-to-trot and trot-to-walk transitions can be achieved within less than one second.
会议录	Proceedings of 2016 IEEE International Conference on Mechatronics and Automation
语种	英语
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/12431]
专题	自动化研究所_智能感知与计算研究中心
通讯作者	Wang, Wei
作者单位	Institute of Automation Chinese Academy of Sciences
推荐引用方式 GB/T 7714	Huang Zhuhui,Wang Wei,Wang, Wei. Controller-Switching Based Gait Transition for a Quadruped Robot[C]. 见:. Harbin, China. 2016.