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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Discontinuous Zigzag Gait Control to Increase the Stability During Walking in Slope

경사면 보행 안정성 향상을 위한 불연속 걸음새 제어

  • Published : 2009.09.01
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Abstract

An essential consideration when analyzing the gait of walking robots is their ability to maintain stability during walking. Therefore, this study proposes a vertical waist-jointed walking robot and gait algorithm to increase the gait stability margin while walking on the slope. First, the energy stability margin is compared according to the posture of the walking motion on slope. Next, a vertical waist-jointed walking robot is modeled to analyze the stability margin in given assumption. We describe new parameters, joint angle and position of a vertical waist-joint to get COG (center of gravity of a body) in walking. Finally, we prove the superiority of the proposed gait algorithm using simulation and conclude the results.

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References

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Cited by

  1. Fault Tolerant Straight-Line Gaits of a Quadruped Robot with Feet of Flat Shape vol.18, pp.2, 2012, https://doi.org/10.5302/J.ICROS.2012.18.2.141
  2. Gait Generation Method for a Quadruped Robot with a Waist Joint to Walk on the Slope vol.22, pp.5, 2012, https://doi.org/10.5391/JKIIS.2012.22.5.617