Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Zigzag Gait Planning of n Quadruped Walking Robot Using Geometric Search Method

기하학적 탐색을 이용한 4각 보행로봇의 지그재그 걸음새 계획

  • Park, Se-Hoon (Dept.of Electronics Engineering, Kyungpook National University) ;
  • Lee, Seung-Ha (Dept.of Electronics Engineering, Kyungpook National University) ;
  • Lee, Yun-Jung (Dept.of Electronics Engineering, Kyungpook National University)
  • Published : 2002.02.01
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Abstract

This paper presents a systematic method of the zigzag gait planning for quadruped walking robots. When a robot walks with a zigzag gait, its body is allowed to move from side to side, while the body movement is restricted along a moving direction in conventional continuous gaits. The zigzag movement of the body is effective to improve the gait stability margin. To plan a zigzag gait in a systematic way, the relationship between the center of gravity(COG) and the stability margin is firstly investigated. Then, new geometrical method is introduced to plan a sequence of the body movement which guarantees a maximum stability margin as well as monotonicity along a moving direction. Finally, an optimal swing-leg sequence is chosen for a given arbitrary configuration of the robot. To verify the proposed method, computer simulations have been performed for both cases of a periodic gait and a non-periodic gait.

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References

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