Gait planning for quadruped robot based on dynamic stability: landing accordance ratio

Abstract

In this article, the method for increasing dynamic stability of quadruped robot is proposed. Previous researches on dynamic walking of quadruped robots have used only walking pattern called central pattern generator (CPG). In this research, different from walking generation with only CPG, a instinctive stability measure called landing accordance ratio, is… (More)
DOI: 10.1007/s11370-009-0038-7

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