Journal of the Korean Institute of Telematics and Electronics (대한전자공학회논문지)
- Volume 25 Issue 7
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- Pages.723-733
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- 1988
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- 1016-135X(pISSN)
A Study on the Gait Control of a 4-Legged Walking Robot on Irregular Terrain
부정지형에서 4각 보행로보트의 걸음새 제어에 관한 연구
- Seong, Il (Production Eng. Center, SAMSUNG Elec. Co.) ;
- Moon, Young-Hyun (Dept. of Electrical. Eng., Yonsei Univ.)
- Published : 1988.07.01
Abstract
In this paper, A model of 4-legged walking robot is presented by investigating the gait of animals, which can walk with maintaining static stability on irregular terrain. Kinematices of the model robot was analyzed by geometric approach, and a gait control algorithm is proposed for the effective walking on irregular terrain. Terrains are classified into 4 types in order to study the terrain adaptability of the proposed algorithm and it is simulated for each type of terrain.
Keywords