From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation

  title={From Bipedal Walking to Quadrupedal Locomotion: Full-Body Dynamics Decomposition for Rapid Gait Generation},
  author={Wen-Loong Ma and A. Ames},
  journal={2020 IEEE International Conference on Robotics and Automation (ICRA)},
  • Wen-Loong Ma, A. Ames
  • Published 18 September 2019
  • Computer Science, Engineering
  • 2020 IEEE International Conference on Robotics and Automation (ICRA)
This paper systematically decomposes a quadrupedal robot into bipeds to rapidly generate walking gaits and then recomposes these gaits to obtain quadrupedal locomotion. We begin by decomposing the full-order, nonlinear and hybrid dynamics of a three-dimensional quadrupedal robot, including its continuous and discrete dynamics, into two bipedal systems that are subject to external forces. Using the hybrid zero dynamics (HZD) framework, gaits for these bipedal robots can be rapidly generated (on… 
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