{"title":"A study of turning gait control for quadruped walking vehicle","authors":"Ma Lie, Ma Peisun","doi":"10.1109/IROS.1991.174727","DOIUrl":null,"url":null,"abstract":"This paper studies the realization of turning gait control, taking a quadruped walking vehicle as the subject of the research. Based on the analyses of previous works, a kind of turning gait with the center of gravity of the vehicle walking along multiple broken lines has been planned, which is more suitable for practical control than previous methods. The process of the turning gait and its feasibility are discussed in detail. The turning gait presented is being implemented in the omnidirectional quadruped walking robot JTUWM-II.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"16 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1991.174727","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 6
Abstract
This paper studies the realization of turning gait control, taking a quadruped walking vehicle as the subject of the research. Based on the analyses of previous works, a kind of turning gait with the center of gravity of the vehicle walking along multiple broken lines has been planned, which is more suitable for practical control than previous methods. The process of the turning gait and its feasibility are discussed in detail. The turning gait presented is being implemented in the omnidirectional quadruped walking robot JTUWM-II.<>
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