Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots

Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed....
Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Qian Hao [verfasserIn] Zhaoba Wang [verfasserIn] Junzheng Wang [verfasserIn] Guangrong Chen [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2020

Schlagwörter:	high terrain adaptability quadruped robots static gait stability rough terrains

Übergeordnetes Werk:	In: Sensors - MDPI AG, 2003, 20(2020), 17, p 4911
Übergeordnetes Werk:	volume:20 ; year:2020 ; number:17, p 4911

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.3390/s20174911

Katalog-ID:	DOAJ085618918

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520			\|a Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.
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allfields	10.3390/s20174911 doi (DE-627)DOAJ085618918 (DE-599)DOAJb7618c3b4b384838881ca524b5e3e2df DE-627 ger DE-627 rakwb eng TP1-1185 Qian Hao verfasserin aut Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations. high terrain adaptability quadruped robots static gait stability rough terrains Chemical technology Zhaoba Wang verfasserin aut Junzheng Wang verfasserin aut Guangrong Chen verfasserin aut In Sensors MDPI AG, 2003 20(2020), 17, p 4911 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:20 year:2020 number:17, p 4911 https://doi.org/10.3390/s20174911 kostenfrei https://doaj.org/article/b7618c3b4b384838881ca524b5e3e2df kostenfrei https://www.mdpi.com/1424-8220/20/17/4911 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 20 2020 17, p 4911
spelling	10.3390/s20174911 doi (DE-627)DOAJ085618918 (DE-599)DOAJb7618c3b4b384838881ca524b5e3e2df DE-627 ger DE-627 rakwb eng TP1-1185 Qian Hao verfasserin aut Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations. high terrain adaptability quadruped robots static gait stability rough terrains Chemical technology Zhaoba Wang verfasserin aut Junzheng Wang verfasserin aut Guangrong Chen verfasserin aut In Sensors MDPI AG, 2003 20(2020), 17, p 4911 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:20 year:2020 number:17, p 4911 https://doi.org/10.3390/s20174911 kostenfrei https://doaj.org/article/b7618c3b4b384838881ca524b5e3e2df kostenfrei https://www.mdpi.com/1424-8220/20/17/4911 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 20 2020 17, p 4911
allfields_unstemmed	10.3390/s20174911 doi (DE-627)DOAJ085618918 (DE-599)DOAJb7618c3b4b384838881ca524b5e3e2df DE-627 ger DE-627 rakwb eng TP1-1185 Qian Hao verfasserin aut Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations. high terrain adaptability quadruped robots static gait stability rough terrains Chemical technology Zhaoba Wang verfasserin aut Junzheng Wang verfasserin aut Guangrong Chen verfasserin aut In Sensors MDPI AG, 2003 20(2020), 17, p 4911 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:20 year:2020 number:17, p 4911 https://doi.org/10.3390/s20174911 kostenfrei https://doaj.org/article/b7618c3b4b384838881ca524b5e3e2df kostenfrei https://www.mdpi.com/1424-8220/20/17/4911 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 20 2020 17, p 4911
allfieldsGer	10.3390/s20174911 doi (DE-627)DOAJ085618918 (DE-599)DOAJb7618c3b4b384838881ca524b5e3e2df DE-627 ger DE-627 rakwb eng TP1-1185 Qian Hao verfasserin aut Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations. high terrain adaptability quadruped robots static gait stability rough terrains Chemical technology Zhaoba Wang verfasserin aut Junzheng Wang verfasserin aut Guangrong Chen verfasserin aut In Sensors MDPI AG, 2003 20(2020), 17, p 4911 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:20 year:2020 number:17, p 4911 https://doi.org/10.3390/s20174911 kostenfrei https://doaj.org/article/b7618c3b4b384838881ca524b5e3e2df kostenfrei https://www.mdpi.com/1424-8220/20/17/4911 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 20 2020 17, p 4911
allfieldsSound	10.3390/s20174911 doi (DE-627)DOAJ085618918 (DE-599)DOAJb7618c3b4b384838881ca524b5e3e2df DE-627 ger DE-627 rakwb eng TP1-1185 Qian Hao verfasserin aut Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations. high terrain adaptability quadruped robots static gait stability rough terrains Chemical technology Zhaoba Wang verfasserin aut Junzheng Wang verfasserin aut Guangrong Chen verfasserin aut In Sensors MDPI AG, 2003 20(2020), 17, p 4911 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:20 year:2020 number:17, p 4911 https://doi.org/10.3390/s20174911 kostenfrei https://doaj.org/article/b7618c3b4b384838881ca524b5e3e2df kostenfrei https://www.mdpi.com/1424-8220/20/17/4911 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 20 2020 17, p 4911
language	English
source	In Sensors 20(2020), 17, p 4911 volume:20 year:2020 number:17, p 4911
sourceStr	In Sensors 20(2020), 17, p 4911 volume:20 year:2020 number:17, p 4911
format_phy_str_mv	Article
institution	findex.gbv.de
topic_facet	high terrain adaptability quadruped robots static gait stability rough terrains Chemical technology
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container_title	Sensors
authorswithroles_txt_mv	Qian Hao @@aut@@ Zhaoba Wang @@aut@@ Junzheng Wang @@aut@@ Guangrong Chen @@aut@@
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callnumber-first	T - Technology
author	Qian Hao
spellingShingle	Qian Hao misc TP1-1185 misc high terrain adaptability misc quadruped robots misc static gait misc stability misc rough terrains misc Chemical technology Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots
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topic_title	TP1-1185 Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots high terrain adaptability quadruped robots static gait stability rough terrains
topic	misc TP1-1185 misc high terrain adaptability misc quadruped robots misc static gait misc stability misc rough terrains misc Chemical technology
topic_unstemmed	misc TP1-1185 misc high terrain adaptability misc quadruped robots misc static gait misc stability misc rough terrains misc Chemical technology
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title	Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots
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title_full	Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots
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title_sort	stability-guaranteed and high terrain adaptability static gait for quadruped robots
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title_auth	Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots
abstract	Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.
abstractGer	Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.
abstract_unstemmed	Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.
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container_issue	17, p 4911
title_short	Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots
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