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| Record Number | 2668 |
| Reference Type | Conference Proceedings |
| Author(s) | Pongas, D.;Mistry, M.;Schaal, S. |
| Year | 2007 |
| Title | A robust quadruped walking gait for traversing rough terrain |
| Journal/Conference/Book Title | International Conference on Robotics and Automation (ICRA2007) |
| Keywords | quadruped locomotion, static walk, crawl gait, cog trajectory, rough terrain, internal-model control |
Abstract |
Legged locomotion excels when terrains become
too rough for wheeled systems or open-loop walking pattern
generators to succeed, i.e., when accurate foot placement is of
primary importance in successfully reaching the task goal. In
this paper we address the scenario where the rough terrain is
traversed with a static walking gait, and where for every foot
placement of a leg, the location of the foot placement was selected
irregularly by a planning algorithm. Our goal is to adjust
a smooth walking pattern generator with the selection of
every foot placement such that the COG of the robot follows a
stable trajectory characterized by a stability margin relative to
the current support triangle. We propose a novel parameterization
of the COG trajectory based on the current position,
velocity, and acceleration of the four legs of the robot. This
COG trajectory has guaranteed continuous velocity and acceleration
profiles, which leads to continuous velocity and acceleration
profiles of the leg movement, which is ideally suited for
advanced model-based controllers. Pitch, yaw, and ground
clearance of the robot are easily adjusted automatically under
any terrain situation. We evaluate our gait generation technique
on the Little-Dog quadruped robot when traversing
complex rocky and sloped terrains.
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| Notes | clmc |
| URL(s) | http://www-clmc.usc.edu/publications/P/pongas-ICRA2007.pdf
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| Place Published | Rome, April 10-14, 2007 |
| Pages | 1474-1479 |
| Short Title | A robust quadruped walking gait for traversing rough terrain |
| Papers are available as Adobe PDF ".pdf" files. Adobe Reader is available for free for all computer platforms.
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Page last modified on August 10, 2006, at 06:47 PM
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