四脚ロボットの歩行動作パターンの生成
スポンサーリンク
概要
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In this paper, generation of gains(Walk, Trot, Rotatory Gallop) for quadrupedal Robot(AIBo ERS-7) is described. Because of actualizing gaits, first we decide reference trajectories of each toe, and design angle instruction values of each joint by inverse kinematics so that they are represented. Experimental results demonstrate that proper reference trajecries of each toe, and phase defference of idlling leg phase and earthing leg phase is effective to generate of gaits of the quadrupedal robot.
- 2006-02-28