Design process and experimental verification of the quadruped robot wave gait

In this paper there is presented the design process and experimental verification of the quadruped robot wave gait. Mathematical model of a robot movement is a result of linking together derived leg movement equations with a scheme of their locomotion. The gait is designed and analysed based on two-step design procedure which consists of simulations using MSC Adams and Matlab environments and experimental verification using real quadruped robot.

[1]  C. S. G. Lee,et al.  Robotics: Control, Sensing, Vision, and Intelligence , 1987 .

[2]  R. McGhee,et al.  On the stability properties of quadruped creeping gaits , 1968 .

[3]  Shin-Min Song,et al.  Machines That Walk , 1988 .

[4]  Michail G. Lagoudakis,et al.  Complete Analytical Forward and Inverse Kinematics for the NAO Humanoid Robot , 2015, J. Intell. Robotic Syst..

[5]  A. P. Bessonov,et al.  The Analysis of Gaits in Six-Legged Vehicles According to Their Static Stability , 1974 .

[6]  P. Nagy.  An investigation of walker/terrain interaction , 1992 .

[7]  Chuangde Zhang,et al.  Gaits and geometry of a walking chair for the disabled , 1989 .

[8]  Andrew A. Goldenberg,et al.  Design and Analysis of a Hybrid Mobile Robot Mechanism With Compounded Locomotion and Manipulation Capability , 2008 .

[9]  Jean-Claude Guinot,et al.  Methods and Experimental Protocols to Design a Simulated Bio-Mimetic Quadruped Robot , 2013 .

[10]  Manuel Armada,et al.  A Four-Legged Walking Test Bed , 1993 .

[11]  J. Denavit,et al.  A kinematic notation for lower pair mechanisms based on matrices , 1955 .

[12]  J. Estremera,et al.  Quadrupedal Locomotion: An Introduction to the Control of Four-legged Robots , 2006 .

[13]  C. N. Thai,et al.  Using Robotis Bioloid systems for instructional Robotics , 2011, 2011 Proceedings of IEEE Southeastcon.

[14]  Tsukasa Ogasawara,et al.  DCOB: Action space for reinforcement learning of high DoF robots , 2013, Autonomous Robots.

[15]  Pawel Wawrzynski,et al.  Robust velocity estimation for legged robot using on-board sensors data fusion , 2013, 2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR).

[16]  Christian Ridderström,et al.  Legged locomotion: Balance, control and tools — from equation to action , 2003 .

[17]  S. Ali A. Moosavian,et al.  Dynamics and stable gait planning of a quadruped robot , 2011, 2011 11th International Conference on Control, Automation and Systems.