The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2012
Session ID : 2A2-U02
Conference information
2A2-U02 Time Optimal Control for Quadruped Robots by Considering Transition of Arbitrary States(Walking Robot (2))
Kyohei TAKEUCHITaro NAKAMURAHisashi OSUMI
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CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract
Time optimal control method for quadruped walking robots are developed and installed into a practical robot system. As the fastest trot walk has already been obtained by our previous study, a method for obtaining the fastest walking pattern applicable to the transition between the rest state and the fastest trot walk state is proposed and its effectiveness is verified in this paper. The developed method here is also available for obtaining the fastest walking pattern between two arbitrary states. From the simulation and experiment, the effectiveness of the developed control algorithm is verified.
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© 2012 The Japan Society of Mechanical Engineers
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