Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/129047
Title: Deadlock avoidance for a quadruped with free gait
Authors: Ding, Y. 
Scharf, E.
Issue Date: 1994
Citation: Ding, Y.,Scharf, E. (1994). Deadlock avoidance for a quadruped with free gait. Proceedings - IEEE International Conference on Robotics and Automation (pt 1) : 143-148. ScholarBank@NUS Repository.
Abstract: Free gait is seen as a basis for the coordination of legs in locomotion over irregular terrain, in particular the terrain containing forbidden zones. However, deadlock, a situation in which further movement of a legged vehicle in the desired direction is impossible due to negative stability margin or zero kinematic margin, frequently occur to the free gait. It could be avoided by imposing restrictions on leg reachable volumes for foothold selection, but this may lead to another situation in which no foothold would be found. This paper introduce an alternative method to maintain the stability margin positive for free gait by moving manipulator arms equipped on the vehicle to shift the centre of gravity of the vehicle. The shift in the centre of gravity is measured by use of foot forces through foot force constraint equations. In this paper, an adaptive leg lift-forward time/velocity is also introduced to realize continuous locomotion using minimum stroke to achieve maximum stride. Simulations have demonstrated the feasibility of the proposed algorithms for a quadruped.
Source Title: Proceedings - IEEE International Conference on Robotics and Automation
URI: http://scholarbank.nus.edu.sg/handle/10635/129047
ISBN: 0818653329
ISSN: 10504729
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

Page view(s)

13
checked on Oct 12, 2018

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.