• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.42-42
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• 2000

This paper concerns an efficient aperiodic static crab walking algorithm for quadruped walking machine in rough terrain. In this algorithm, the requirements for forward stability margin and backward stability margin could be given differently in order to consider the slope of terrain and disturbances resulting from moving velocity. To restrict the searing regions for motion variables, such as moving distances until a leg is lifted or is placed, the standard leg transferring sequence is decided to be that of wave gaits. standard support pattern is also proposed that enables the quadruped to continue forward motion using the standard leg transferring sequence without falling into deadlock.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.7-10
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• 2000

Inadequate footholds selection may result in deadlock state where the walking vehicle can not anymore to the desired direction. This paper concerns about the footholds selection for quadruped v, vehicle to walk with the leg lifting sequence of crawl gait which is desired for straight motion. supporting states for lifting a leg are defined and the proper supporting condition for quadruped c: also proposed. When selecting a footholds of swing leg within the proposed footholds searching are; supporting states after the swing legs are placed, satisfy the proper supporting condition. So it can I for quadruped to execute continuous walking with the lifting sequence of crawl gait.