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Free Gaits for Quadruped Robots over Irregular Terrain

Joaquin Estremera, Pablo Gonzalez de Santos
2002 The international journal of robotics research  
This article addresses the design, implementation and experimentation of gaits to negotiate uneven terrain with a real machine. The gaits presented are a mixture of free and discontinuous gaits.  ...  The fusion of these two main gaits plus the addition of extra constraints to avoid leg-transfer deadlocking produced a new free-crab gait, a free-spinning gait and a free-turning gait.  ...  This work was motivated by the urgent need to navigate over irregular terrain with a real four-legged robot.  ... 
doi:10.1177/027836402760475333 fatcat:4ewdy65uvrefzj2j7h4r5h5ddm

Editorial

Cecilia Laschi, Barbara Mazzolai
2009 Applied Bionics and Biomechanics  
Tekken is capable of achieving walking and trotting on flat terrain, can walk using a free-gait on irregular terrain, and it is also capable of running on flat terrain using a bounding gait.  ...  and to synthesise the gaits for a biped robot.  ... 
doi:10.1155/2009/913818 fatcat:g7ltyclpzngo7a4dkiaghebv5i

Biologically inspired adaptive walking of a quadruped robot

H. Kimura, Y. Fukuoka, A. H. Cohen
2007 Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences  
We describe here the efforts to induce a quadruped robot to walk with medium-walking speed on irregular terrain based on biological concepts.  ...  We propose the necessary conditions for stable dynamic walking on irregular terrain in general, and we design the mechanical and the neural systems by comparing biological concepts with those necessary  ...  Tekken1 is walking over irregular terrain.  ... 
doi:10.1098/rsta.2006.1919 pmid:17148054 fatcat:rrg7vav7vbf2to4kzkxsowekta

Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain Based on Biological Concepts

Yasuhiro Fukuoka, Hiroshi Kimura, Avis H Cohen
2003 The international journal of robotics research  
We have been trying to induce a quadruped robot to walk with medium walking speed on irregular terrain based on biological concepts.  ...  We propose the necessary conditions for stable dynamic walking on irregular terrain in general, and we design the mechanical system and the neural system by comparing biological concepts with those necessary  ...  The purpose of this study is to realize high-speed mobility on irregular terrain using a mammal-like quadruped robot, the dynamic walking of which is less stable than that of hexapod robots, by referring  ... 
doi:10.1177/027836403128964926 fatcat:i5swooeolfhh3hw36gloyevql4

A combined potential function and graph search approach for free gait generation of quadruped robots

Yam Geva, Amir Shapiro
2012 2012 IEEE International Conference on Robotics and Automation  
This paper presents an algorithm for planning the foothold positions of quadruped robots on irregular terrain.  ...  Our goal is to develop general algorithm that navigate quadruped robots quasi-statically over rough terrain, using an APF (Artificial Potential Field) and graph searching.  ...  technologies can significantly improve results for gait generation over rough terrains.  ... 
doi:10.1109/icra.2012.6224670 dblp:conf/icra/GevaS12 fatcat:chjsmiuks5cp5hebniyyik6tt4

Adaptive Walking of a Quadruped Robot in Outdoor Environment based on Biological Concepts [chapter]

Hiroshi Kimura, Yasuhiro Fukuoka
2006 Springer Tracts in Advanced Robotics  
We have been trying to induce a quadruped robot to walk with medium walking speed on irregular terrain based on biological concepts.  ...  We report our experimental results of dynamic walking on irregular terrain in outdoor environment using a self-contained quadruped robot in order to verify the effectiveness of the designed neuro-mechanical  ...  This paper reports on our progress using a selfcontained (power autonomous) quadruped robot called "Tekken2" (Fig.1 ) which was newly developed for adaptive walking on irregular terrain in outdoor environment  ... 
doi:10.1007/11552246_41 fatcat:6r257afkxzetfk3kpbvmwsqsje

Fault-tolerant locomotion of the hexapod robot

Jung-Min Yang, Jong-Hwan Kim
1998 IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)  
Based on this, the fault-tolerant quadruped periodic gaits of the hexapod walking over perfectly even terrain are derived.  ...  In this paper, we propose a scheme for fault detection and tolerance of the hexapod robot locomotion on even terrain.  ...  Based on this, the fault-tolerant quadruped periodic gaits of the hexapod walking over perfectly even terrain was derived.  ... 
doi:10.1109/3477.658585 pmid:18255929 fatcat:iarobw2h4fex5akolm66ecowqe

The Stanford LittleDog: A learning and rapid replanning approach to quadruped locomotion

J. Zico Kolter, Andrew Y Ng, Jonas Buchli, Jerry Pratt, Nicholas Roy
2011 The international journal of robotics research  
In this paper we consider the planning and control tasks of navigating a quadruped robot over a wide variety of challenging terrain, including terrain which it has not seen until run-time.  ...  Legged robots offer the potential to navigate a wide variety of terrains that are inaccessible to wheeled vehicles.  ...  tasks of quadruped locomotion in highly irregular terrain.  ... 
doi:10.1177/0278364910390537 fatcat:oi32xggzgzcl3p2pbok7ctzbje

Adaptive Motion Skill Learning of Quadruped Robot on Slopes Based on Augmented Random Search Algorithm

Xiaoqing Zhu, Mingchao Wang, Xiaogang Ruan, Lu Chen, Tingdong Ji, Xinyuan Liu
2022 Electronics  
To deal with the problem of stable walking of quadruped robots on slopes, a gait planning algorithm framework for quadruped robots facing unknown slopes is proposed.  ...  We estimated the terrain slope by the attitude information measured by the inertial measurement unit (IMU) without relying on the robot vision.  ...  [3] planned the static gait of the quadruped robot, which can be used for the robot to walk on irregular terrain. Ref.  ... 
doi:10.3390/electronics11060842 fatcat:l6qyrvhgorgq3oehi4tvbhpxbi

Experimental Results for Dexterous Quadruped Locomotion Planning with RoboSimian [chapter]

Brian W. Satzinger, Chelsea Lau, Marten Byl, Katie Byl
2015 Springer Tracts in Advanced Robotics  
In our results, we present a tractable means of planning statically stable and collision-free gaits, which combines practical heuristics for kinematics with traditional randomized (RRT) search algorithms  ...  RoboSimian is a quadruped robot inspired by an ape-like morphology, with four symmetric limbs that provide a large dexterous workspace and high torque output capabilities.  ...  The authors would also like to thank the entire RoboSimian team for their efforts in designing the robotic system hardware and software.  ... 
doi:10.1007/978-3-319-23778-7_3 fatcat:f2okg7rhirb35ixrq6gkzfszem

Adaptive Control Strategies for Interlimb Coordination in Legged Robots: A Review

Shinya Aoi, Poramate Manoonpong, Yuichi Ambe, Fumitoshi Matsuno, Florentin Wörgötter
2017 Frontiers in Neurorobotics  
legged robots.  ...  We also discuss the underlying mechanisms and control strategies to achieve adaptive interlimb coordination and the design principle for the control system of legged robots.  ...  Foundation, Japan, by the Kyoto Technoscience Center, Japan, and by the Centre for BioRobotics (CBR) at the University of Southern Denmark (SDU, Denmark).  ... 
doi:10.3389/fnbot.2017.00039 pmid:28878645 pmcid:PMC5572352 fatcat:bx7yddovabadtmpuoua7ot5b6m

Locomotion Analysis of Hexapod Robot [chapter]

Xilun Ding, Zhiying Wang, Alberto Rovetta, J.M. Zhu
2010 Climbing and Walking Robots  
It is more flexible and adaptive than periodic and regular gaits on complicated terrain. A large number of free gaits for quadruped and hexapod robots have been developed to date.  ...  Introduction Multi-legged robots display significant advantages with respect to wheeled ones for walking over rough terrain because they do not need continuous contact with the ground.  ...  Climbing and Walking Robots Edited by Behnam Miripour Hard cover, 508 pages  ... 
doi:10.5772/8822 fatcat:6s4bqrupxjbsxkbln2qb2arw2e

Locomotion Strategies for Amphibious Robots-A Review

Mohammed Rafeeq, Siti Fauziah Toha, Salmiah Ahmad, Mohd Asyraf Razib
2021 IEEE Access  
Tracked robots have high adaptability than wheeled robots but are less performing than legged locomotory over irregular terrains.  ...  The robot has limited gait transitioning, less suitable on irregular terrains, and smaller size obstacle negotiation.  ... 
doi:10.1109/access.2021.3057406 fatcat:yjquskqm7fffticy2n6v3hj6ye

Valkyrie—Design and Development of Gaits for Quadruped Robot Using Particle Swarm Optimization

Taarun Srinivas, Adithya Krishna Karigiri Madhusudhan, Lokeshwaran Manohar, Nikhit Mathew Stephen Pushpagiri, Kuppan Chetty Ramanathan, Mukund Janardhanan, Izabela Nielsen
2021 Applied Sciences  
Motivated from the recent works in the field of quadruped robots, this research aims to develop and investigate gaits for a 2 DoF mammal-inspired quadruped robot that incorporates 4 hip and 4 knee servo  ...  Over the past decades, developments and scientific breakthroughs in the field of robotics have shown the replacement of wheeled robots with legged robots, which are often inspired by the biological characteristics  ...  The developed gaits were tested on a SILO4 walking robot, and their algorithms were proved to be efficient in real-time and adaptive to irregular terrain. Wang et al.  ... 
doi:10.3390/app11167458 fatcat:re2kt3r56fbevp3iyf66cx3az4

Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots [article]

Zipeng Fu, Ashish Kumar, Jitendra Malik, Deepak Pathak
2021 arXiv   pre-print
We demonstrate that learning to minimize energy consumption plays a key role in the emergence of natural locomotion gaits at different speeds in real quadruped robots.  ...  Legged locomotion is commonly studied and expressed as a discrete set of gait patterns, like walk, trot, gallop, which are usually treated as given and pre-programmed in legged robots for efficient locomotion  ...  We would like to thank Chris Atkeson for high-quality feedback, and Qingqing Zhao and Shivam Duggal for many video recordings.  ... 
arXiv:2111.01674v1 fatcat:o35dmytp7rharnpy47qrvorceq
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