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Quadruped free gait generation for straight-line and circular trajectories

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Abstract:

A method of free gait generation is proposed utilizing the primary/secondary gait for both straight line and circular body trajectories. The primary gait is a fixed sequence of leg transfers with modified leg-ends kinematic limits according to the presence of obstacles, while the secondary gait is a flexible gait which is generated to adjust the leg-end position. The primary gait is generated considering the following four constraints: stability constraint, kinematic constraint, sequential constraint and neighboring constraints. A generalized reference coordinate (GRC) system is introduced to describe the vehicle motion. Using the GRC system, all constraints and obstacle influences are expressed by only one set of equations despite the difference of motion mode. The efficiency of free gait generation is improved with the proposed method, and the trajectory of the vehicle body can be designed more naturally. Simulation results are given to demonstrate the efficiency of the proposed methodology.

Keywords: Walking machine; free gait; gait pattern generation; motion planning; quadrupeds

Document Type: Research Article

DOI: https://doi.org/10.1163/156855399X00946

Affiliations: 1: School of Mechanical and Production Engineering, Nanyang Technological University, Singapore 639798, Republic of Singapore 2: Warsaw University of Technology, MEiL ul. Nowowiejska 24, 00-665 Warsaw, Poland

Publication date: 1998-01-01

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