|Table of Contents|

Real-time Detection and Self-adjusting Method on Static Walking Stability of Quadruped Horse Robot

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
2011年06期
Page:
791-796
Research Field:
Publishing date:

Info

Title:
Real-time Detection and Self-adjusting Method on Static Walking Stability of Quadruped Horse Robot
Author(s):
TAO Wei-jun1FENG Hu-tian1YU Lian-qing2
1. School of Mechanical Engineering,NUST,Nanjing 210094,China; 2. College of Electromechanical Engineering,Wuhan Textile University,Wuhan 430073,China
Keywords:
quadruped horse robots static walking stability center of pressure real-time detection fuzzy reference
PACS:
TP242
DOI:
-
Abstract:
Aiming at the walking stability of static walking for quadruped horse robots,a real time detection method based on the center of pressure is proposed. A quantitative calculation of the walking stability is conducted. A method to realize the self-adjusting of the robot’s static walking stability by using the fuzzy reference is proposed based on the detected stability and the center of pressure. A mini quadruped horse robot is self-made and static walking experiments are done on different grounds. Experimental results show that the proposed method can realize the static walking stability detection and self-adjusting, and can improve the static walking stability of a quadruped horse robot.

References:

[1] Kimura H,Fukuoka Y. Adaptive dynamic walking of a quadruped robot on natural ground based on biological concepts [J ]. International Journal of Robotics Research, 2007, 26( 5) : 475-490.
[2] Maufroy C,Nishikawa T,Kimura H. Stable dynamic walking of a quadruped robot“Kotetsu”using phase modulations based on leg loading /unloading[A]. IEEE International Conference on Robotics and Automation [C]. Alaska,USA: IEEE, 2010: 5225-5230.
[3] Buehler M,Battaglia R,Cocosco A, et al. Scout: A simple quadruped robot that walks,climbs and runs[A]. Proc IEEE Int Conf,Robotics and Automation[C]. Leuven, Belgium: IEEE, 1998: 1707-1712.
[4] Battaglia R. Design and control of a four-legged robot: SCOUTⅡ[M]. Montreal,Quebec,Canada: Department of Mechanical Engineering,McGill University, 1999.
[5] Buehler M,Playter R,Railbert M. Robots step outside [A]. 3rd International Symposium on Adaptive Motion in Animals and Machines[C]. Ilmenau,Germany: Technische Universitat, 2005.
[6] Raibert M,Blankespoor K,Nelson G, et al. BigDog, the rough-terrain quadruped robot[A]. Proceedings of the 17th World Congress of the International Federation of Automatic Control [C]. Seoul,Korea: International Federation of Automatic Control, 2008: 10822-10825.
[7] 何冬青,马培荪. 四足机器人动态步行仿真及步行稳 定性分析[J]. 计算机仿真, 2005, 22( 2) : 146-149.
[8] 陈学东,郭鸿勋,渡边桂吾. 四足机器人爬行步态的正 运动学分析[J]. 机械工程学报, 2003, 39( 2) : 8-12.
[9] 王新杰,李培根,陈学东,等. 四足步行机器人关节 位姿和稳定性研究[J]. 中国机械工程,2005, 16( 17) : 1561-1566.
[10] Papadopoulos E G,Rey D A. New measure of tipover stability margin for mobile manipulators[A]. IEEE International Conference on Robotics and Automation [C]. Minneapolis,MN,USA: IEEE, 1996: 3111-3116.
[11] Messuri D A,Klein C A. Automatic body regulation for maintaining stability of a legged vehicle during roughterrain locomotion[J]. IEEE Journal of Robotics And Automation, 1985,RA-1( 3) : 45-50.
[12] Ghasempoor A,Sepchiri N. A measure of machine stability for moving base manipilators[A]. IEEE International Conference on Robotics and Automation[C]. Nagoya, Japan: IEEE, 1995: 2249-2254.
[13] Goswami A. Postural stability of biped robots and the foot-rotation indicator ( FRI ) point[J]. International Journal of Robotics Research, 1999, 18( 6) : 523-533.
[14] 诸静. 模糊控制原理与应用[M]. 北京: 机械工业出 版社, 2005.

Memo

Memo:
-
Last Update: 2012-10-25