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Abstract:
The characteristics of design and hierarchical structure of control
system of an omnidirectional quadruped legged robot QW-Ⅰare introduced.
The emphasis is put on implementing omnidirectional walking by a kind of
periodic gaits. An approaching method is presented to realize the
walking by a kind of periodic gaits. An approaching method is presented
to realize the walking by a kind of periodic gaits. An approaching
method is presented to realize the walking along a given path using the
combination of crab gal with gait transition as well as the local
regulation of legs. The prototype of QW-Ⅰ has been developed and some
walking experiments were carried out.
Key words: 步行机器人 运动 控制
Received
198907, received in revised form 199005
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