A Study on Adaptive Generation of Motion Pattern of a Quadruped Locomotion Robot

Katsuyoshi Tsujita; Hiroomi Toui; Kazuo Tsuchiya

doi:10.11499/sicep.2004.0_2_4

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_2_4

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

A Study on Adaptive Generation of Motion Pattern of a Quadruped Locomotion Robot

*Katsuyoshi Tsujita, Hiroomi Toui, Kazuo Tsuchiya

Author information

Keywords: Pattern Generation, Quadruped Locomotion Robot, Nonlinear Oscillator

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Pages 2

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Abstract

The authors have proposed a dynamic turning control system of a quadruped robot by using nonlinear oscillators. It is composed of a spontaneous locomotion controller and voluntary motion controller. In this article, capability of dynamic turning motion of the proposed control system is verified through numerical simulations and hardware experiments.

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