| 题名 | Static gait planning method for quadruped robots on uneven terrain |
| 作者 | |
| 通讯作者 | Ke, Wende |
| 发表日期 | 2021
|
| 发表期刊 | |
| ISSN | 1752-5055
|
| EISSN | 1752-5063
|
| 卷号 | 14期号:4页码:380-396 |
| 摘要 | In order to improve the stable walking ability of quadruped robot in uneven terrain, the discontinuous gait of quadruped robot is designed based on the stability margin calculated by the pressure center method. Gait planning includes body centre of gravity trajectory planning and swing foot end trajectory planning. Sine acceleration curve is used to plan the body centre of gravity trajectory to ensure the continuity of the whole movement process. Aiming at the robot with the ability of environment perception, a kind of rectangular swinging foot end trajectory is designed, which has both flexible adaptability and moving speed. The simulation results show that the quadruped robot can pass through the uneven terrain area in real time and stably using the proposed static gait planning method. |
| 关键词 | |
| 相关链接 | [来源记录] |
| 收录类别 | |
| 语种 | 英语
|
| 学校署名 | 第一
; 通讯
|
| 资助项目 | Basic research (free exploration) project of Shenzhen Science and Innovation Commission[201803023000889]
; Natural Science Foundation of Guangdong Province[2016A030307028]
; Science and technology project of Guangdong province[2014A010104016]
; Basic research (T01) project of Shenzhen science and innovation Commission[JCYJ20180307124010740]
|
| WOS研究方向 | Engineering
|
| WOS类目 | Engineering, Multidisciplinary
|
| WOS记录号 | WOS:000752948400007
|
| 出版者 | |
| EI入藏号 | 20220811681971
|
| EI主题词 | Landforms
; Motion analysis
; Multipurpose robots
; Robot programming
; Trajectories
|
| EI分类号 | Geology:481.1
; Computer Programming:723.1
; Data Processing and Image Processing:723.2
; Robotics:731.5
; Robot Applications:731.6
; Gravitation, Relativity and String Theory:931.5
|
| 来源库 | Web of Science
|
| 引用统计 |
被引频次[WOS]：1
|
| 成果类型 | 期刊论文 |
| 条目标识符 | http://sustech.caswiz.com/handle/2SGJ60CL/286052 |
| 专题 | 工学院_机械与能源工程系 |
| 作者单位 | Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen 518055, Peoples R China |
| 第一作者单位 | 机械与能源工程系 |
| 通讯作者单位 | 机械与能源工程系 |
| 第一作者的第一单位 | 机械与能源工程系 |
| 推荐引用方式 GB/T 7714 |
Wang, Qixin,Ke, Wende,Wen, Qi. Static gait planning method for quadruped robots on uneven terrain[J]. International Journal of Computing Science and Mathematics,2021,14(4):380-396.
|
| APA |
Wang, Qixin,Ke, Wende,&Wen, Qi.(2021).Static gait planning method for quadruped robots on uneven terrain.International Journal of Computing Science and Mathematics,14(4),380-396.
|
| MLA |
Wang, Qixin,et al."Static gait planning method for quadruped robots on uneven terrain".International Journal of Computing Science and Mathematics 14.4(2021):380-396.
|
| 条目包含的文件 | 条目无相关文件。 | |||||
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