• Title, Summary, Keyword: Trot Gait

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A study on Dynamic Gait Quadruped Walking Robot (사각 보행 로봇의 동적 걸음새에 관한 연구)

  • 김진섭;오준호;조진철
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • pp.78-81
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    • 1997
  • In this study, we prepose the dynamic gait in consideration of emerge efficiency. The proposed dynamic gait is applied to the quadruped walking robot and experiments are performed for real robot. We proposed the dynamic gait is diagonal gait which is modified the trot gait in consideration of energy efficiency. The proposed gait is composed of two steps. In one step, the robot walks in the trot gait. In the other step, the robot walks with making the center of gravity lie on the two legs supporting line. Realization of the diagonal intermittent trot gait is performed by open loop contal and motion planning of the proposed gait. The validity of the purposed gait is confirmed by our experiment.

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A Dynamic Modeling and Analysis for High-speed Walking of a Quadrupedal Robot (사각보행기의 고속 보행제어를 위한 동적 모델링 및 해석)

  • Kang, Sung-Chul;Yoo, Hong-Hee;Kim, Mun-Sang;Lee, Kyo-Il
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.21 no.5
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    • pp.756-768
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    • 1997
  • In order to control a dynamic gait of quadrupedal walking robot, the equations of motion of the whole mechanism are required. In this research, the equations of motion are formulated analytically using Kane's dynamic approach. As a dynamic gait model, a trot gait has been adopted. The degree of freedom of whole mechanism could be reduced to 7 by idealizing the kinematic feature of the trot gait. Using the equations of motion formulated, the results of the redundant-joint torque analysis and the simulation of dynamic walking motion are presented.

A Study on Trot Walking for Quadruped Walking Robot (4족 보행로봇의 Trot 보행에 관한 연구)

  • Bae Cherl-O;Ahn Byeong-Won;Kim Hyun-Soo
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.8 no.7
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    • pp.1418-1423
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    • 2004
  • A legged robot is friendly to human because it is resemble to human. And the robot can obtain support points freely because it has high degree of freedom for several joint as compared with a wheeled robot. Also the robot can create the relative position at desired position between support position and robot. The joint of robot cu used as manipulator. On the contrary the mechanism of robot is complicated to have many joint and moving speed is lower than wheeled robot. Also the legged robot is needed a special control not to fall on the ground because the robot is easy to vibrate when it is moving. The 4 leg structure is the minimum leg numbers not to fall and to realize safety gait continuously. A trot gait is investigated through experiments using a quadruped walking robot named TITAN-VIII.

Movement Analysis of Waist and Tail of Lizard for Controlling Yawing for Motion in Slow Trotting (저속 주행 시 도마뱀 몸체의 편요 움직임을 제어하는 허리 및 꼬리의 움직임 원리)

  • Kim, Jeongryul;Kim, Jong-Won;Park, Jaeheung;Kim, Jongwon
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.7
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    • pp.620-625
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    • 2013
  • Mammals such as dogs and cheetahs change their gait from trot to gallop as they run faster. However, lizards always trot for various speeds of running. When mammals run slowly with trot gait, their fore leg and hind leg generate the required force for acceleration or deceleration such that the yaw moments created by these forces cancel each other. On the other hand, when lizards run slowly, their fore legs and hind legs generate the forces for deceleration and acceleration, respectively. In this paper, the yaw motion of a lizard model is controlled by the movement of their waist and tail, and the reaction moment from the ground produced by the hind legs in simulation. The simulation uses the whole body dynamics of a lizard model, which consists of 4 links based on the Callisaurus draconoides. The results show that the simulated trotting of the model is similar to that of a real lizard when the movement of the model is optimized to minimize the reaction moment from the ground. It means that the body of a lizard moves in such a way that the reaction moment from the ground is minimized. This demonstrates our hypothesis on how lizards trot using body motion.

Feasibility test for dynamic gait of quadruped walking robot (4각 보행로봇의 동적 걸음새 평가)

  • 김종년;홍형주;윤용산
    • Transactions of the Korean Society of Mechanical Engineers
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    • v.14 no.6
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    • pp.1455-1463
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    • 1990
  • In this study the feasibility of a dynamic gait for a given quadruped walking robot is investigated through a computer simulation of the walking with certain drivings of the actuators. Two planar inverted pendulums are used to represent the dynamic model of the leg of the walking robot. It's gait motion is assumed to be periodic and symmetric between left and right sides only with half cycle delay. The dynamics of the walking robot is simplified by introducing two virtual legs to produce two planar inverted pendulums in two orthogonal planes and on the basis that certain legs in pair act as one. The feasibility of the dynamic gait motion is established from the following two necessary conditions:(1) The position and velocity of a foot must satisfy the stroke and velocity requirements.(2) The gait motion should be periodic without falling down. The gait feasibility test was applied to a walking robot design showing the specific acceptable speed range of the robot in trot. Also it showed that the higher body height may produce the faster trot gait.

Design and Control of a Hydraulic Driven Quadruped Walking Robot (유압구동식 4족보행 로봇의 설계 및 제어)

  • Kim, Tae-Ju;Won, Dae-Hee;Kwon, O-Hung;Park, Sang-Deok;Son, Woong-Hee
    • The Journal of Korea Robotics Society
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    • v.2 no.4
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    • pp.353-360
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    • 2007
  • This paper proposes the trot gait pattern generation and online control methods for a quadruped robot to carry heavy loads and to move fast on uneven terrain. The trot pattern is generated from the frequency modulated pattern generation method based on the frequency modulated oscillator in order for the legged robots to be operated outdoor environment with the static and dynamic mobility. The efficiency and performance of the proposed method are verified through computer simulations and experiments using qRT-1/-2. In the experiments, qRT-2 which has two front legs driven by hydraulic linear actuators and two rear casters is used. The robot can trot at the speed up to 1.3 m/s on even surface, walk up and down the 20 degree inclines, and walk at 0.7 m/s on uneven surface. Also it can carry over 100 kg totally including 40 kg payload.

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A Study on Energy Efficiency of Quadruped Walking Robot (4족 보행 로봇의 에너지효율에 관한 연구)

  • 안병원;배철오;박영산;박중순;이성근
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • pp.309-312
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    • 2003
  • Though a legged robot has high terrain adaptability as compared with a wheeled vehicle, its moving speed is considerably low in general. For attaining a high moving speed with a legged robot, a dynamically stable walking, such as running for a biped robot and a trot gait or a bound gait for a quadruped robot, is a promising solution. However, energy efficiency of a dynamically stable walking is generally lower than the efficiency of a stable gait such as a crawl gait. In this paper, we present an experimental study on the energy efficiency of a quadruped walking vehicle. Energy consumption of two walking patterns for a trot gait is investigated though experiments using a TITAN-VIII.

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A Computer Simulation on the Efficiency of Energy Consumption for Quadruped Walking Robot (4족 보행로봇의 소비에너지 효율에 관한 시뮬레이션)

  • Ahn Byong-Won;Bae Cherl-o;Eom Han-Sung
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.9 no.6
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    • pp.1247-1252
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    • 2005
  • Though a legged robot has a high terrain adaptability as compared with a wheeled robot, its moving speed is considerably low in general. For attaining a high moving speed with a logged robot, a dynamically stable walking is a promising solution. However, the energy efficiency of a dynamically stable walking is generally lower than the efficiency of a stable gait such as a crawl gait. In this paper, energy consumption of two walking patterns for a trot gait is simulated through modeling a quadruped walking robot named TITAN-VIII.

The Energy Efficiency of Walking Method for Quadruped Walking Robot (4 족 보행로봇의 보행방법에 대한 에너지효율)

  • Shin, Chang-Rok;Kim, Jang-Seob;Park, Jong-Hyeon;Yoo, Hong-Hee
    • Proceedings of the KSME Conference
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    • pp.882-887
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    • 2008
  • In this paper, the dependency of energy efficiency on the walking/running pattern and the walking/running period is analyzed though simulations of walk, trot and gallop. A quadruped animal has its own original features in the walking pattern and the walking period for adaptation to the environment. The robot model used in the simulations has three active joints and one passive spring-loaded joint at each leg, which is based on the actual quadruped robot, HUNTER (Hanyang UNiversity TEtrapod Robot), developed in the lab. Also included is the dependency of energy efficiency on the walking period in trot.

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Locomotion of Dog-like Quadruped Robots: Walk and Trot (견형 4족 로봇의 위치 이동: 걷기 및 속보)

  • Lim, Seung-Chul;Kim, Kwang-Han
    • Journal of the Korea Society for Simulation
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    • v.20 no.1
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    • pp.51-59
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    • 2011
  • This paper is concerned with locomotion of dog-like quadruped robots that can adapt to various terrains, mainly dealing with implementation methods and characteristics of static and dynamic gaits. To this end, a 12-DOF robot is built in house, motional trajectories of its body and feet are generated mimicking biological life, and the corresponding leg joint angles are analytically obtained by inverse kinematics. Such joint angle data are then applied to the robot's ADAMS model for computer simulations so that the planned walk and trot gaits are both confirmed dynamically stable. However, contrary to the simulation results, previous trot patterns showed unstable behavior during experiments. This problem led us to analyze the reason, and in the course we discovered the importance of maximally utilizing the concept of WSM rather than ZMP and therefore reducing the gait period to secure the stability of dynamic gaits such as trot.