Optimal Trajectories for a Quadruped Robot with Trot, Amble and Curvet Gaits for Two Energetic Criteria

@article{Muraro2003OptimalTF,
  title={Optimal Trajectories for a Quadruped Robot with Trot, Amble and Curvet Gaits for Two Energetic Criteria},
  author={Antonella Muraro and Christine Chevallereau and Yannick Aoustin},
  journal={Multibody System Dynamics},
  year={2003},
  volume={9},
  pages={39-62}
}
In this paper, optimal cyclic reference trajectories aredesigned for three gaits of a quadruped robot, the curvet, theamble, and the trot, taking into account the actuatorscharacteristics. The gaits are composed of stance phases andinstantaneous double supports. The principle of virtual leg isused to obtain simpler dynamic model describing the motion ofthe quadruped. The impact phases are modeled by passive impactequations. For the curvet the step is composed of twodifferent half steps. For the… CONTINUE READING
BETA

Similar Papers

Citations

Publications citing this paper.
SHOWING 1-10 OF 16 CITATIONS

Selecting gaits for economical locomotion of legged robots

VIEW 5 EXCERPTS
CITES BACKGROUND
HIGHLY INFLUENCED

Energetically Optimal Gait Transition Velocities of a Quadruped Robot

  • 2013 IEEE International Conference on Systems, Man, and Cybernetics
  • 2013
VIEW 2 EXCERPTS
CITES METHODS
HIGHLY INFLUENCED

Trot pattern generation for quadruped robot based on the ZMP stability margin

  • 2013 ICME International Conference on Complex Medical Engineering
  • 2013

Universal Multiaxis Control System for Electric Drives

  • IEEE Transactions on Industrial Electronics
  • 2013
VIEW 1 EXCERPT
CITES METHODS

References

Publications referenced by this paper.
SHOWING 1-10 OF 17 REFERENCES

Aoustin, "Optimal Reference Optimal Trajectories and Running of a Biped Robot

Y. C. Chevallereau
  • Robotica, Vol. 19
  • 2001
VIEW 3 EXCERPTS

Sardain, "Design and actuation optimization of a 4 axes biped for walking and running

P. C. Chevallereau
  • Proc IEEE Int. Conf. on Robotic and Automation,
  • 2000
VIEW 1 EXCERPT

Modeling and control of a quadruped for a dynamically stable gait

B. Perrin
  • Ph D Thesis, from University of Nantes, France,
  • 1999
VIEW 1 EXCERPT

Canudas-de-Wit and A.Goswani, "Generation of Energy Optimal Complete Gait Cycles for Biped

C. L. Roussel
  • Proc IEEE Int. Conf. on Robotic and Automation, Louvain,
  • 1998
VIEW 2 EXCERPTS

Impactless sagittal gait of a biped robot during the single support phase

  • Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)
  • 1998

Wieber, "Dynamic transition simulation of a walking anthropomorphic robot

O. Bruneau, P.B.F.B. Ouezdou
  • Proc IEEE Int. Conf. on Robotic and Automation, Louvain,
  • 1998
VIEW 1 EXCERPT

Realization of bounce gait in a quadruped robot with articular-joint-type legs

  • Proceedings of 1995 IEEE International Conference on Robotics and Automation
  • 1995
VIEW 1 EXCERPT