2013年3月
Prototype Development and Real-time Trot-Running Implementation of a Quadruped Robot: RoboCat-1
2013 IEEE International Conference on Mechatronics (ICM)
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- 開始ページ
- 604
- 終了ページ
- 609
- 記述言語
- 英語
- 掲載種別
- 研究論文(国際会議プロシーディングス)
- DOI
- 10.1109/ICMECH.2013.6519111
- 出版者・発行元
- IEEE
This paper is written to report our research group's recent activities that are concerning quadruped locomotion control. To this end, we primarily constructed an electrically-actuated quadruped robot which is employed as an experimentation platform to test the locomotion control algorithm. An overall motion control scheme is introduced to reveal the main principles for achieving fast and agile locomotion scenarios. Having disclosed prototype development and real-time control procedures, trot-running locomotion experimental results are presented. In these experiments, the robot exhibited successful trot-running cycles in a repetitive, dynamically-equilibrated, agile, and compliant manner; demonstrating that the control algorithm has potentials to be utilized in fast locomotion tasks.
- リンク情報
- ID情報
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- DOI : 10.1109/ICMECH.2013.6519111
- Web of Science ID : WOS:000324299300094