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Implementation of Gaits for Achieving Omnidirectional Walking in a Quadruped RobotAuthors: komal Teru@gmail.com, MR Grishav,samyukta mogily,Divyanshu Goel,Nahas Pareekutty,Suril Shah,Madhava Krishna Conference: 2nd International Conference of Robotics Society of India-ADVANCES IN ROBOTICS Date: 2015-07-02 Report no: IIIT/TR/2015/37 AbstractIn this paper, we propose a better planning technique of the standard walking gaits for a quadruped robot than the con- ventional successive gait transition method to realize omni- directional static walking. The technique involved planning the sequence as well as motion of the swinging and support- ing legs. The relationship between the stability margin, the stride length and the duty factor are also formulated mathe- matically. The proposed modied crawl gait is compared to the conventional method with respect to the above parame- ters geometrically as well as mathematically and is shown to have positive stability margin at all times. The successive gait transition is demonstrated on the modied crawl and rotation gaits. Computer simulations of a model quadruped robot were performed to validate the theory proposed. Ex- periments were performed on an actual quadruped robot to realize the omnidirectional static walking with increased stability margin Full paper: pdf Centre for Robotics |
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