Turning methods for quadruped robot with two degrees of freedom per leg  

作　　者：李斌 杨一平 邵雪松 王伟 

机构地区：[1]Institute of Automation,Chinese Academy of Sciences

出　　处：《Journal of Harbin Institute of Technology(New Series)》2011年第5期7-13,共7页哈尔滨工业大学学报（英文版）

摘　　要：With the target at simplicity like facilitating the mechanical system,the quadruped robots usually have limited degrees of freedom per leg.Addressing the robot whose legs have only two degrees of freedom,this paper explores several turning strategies including altering the median value,changing the phase difference,and modifying the amplitude.The insights of the proposed methods are that we break down the symmetries which exist during the process of the robot locomotion and rebuild them.Since we probe into the turning feasibility from the points of the median value,phase difference and amplitude in the sine functions,these turning methods are feature of universality.In order to evaluate these methods,this paper presents a new way to weigh the stability,which can be easily applied to practical robots.Experiments demonstrate that the quadruped turns around with little effort and endeavor.With the target at simplicity like facilitating the mechanical system, the quadruped robots usually have limited degrees of freedom per leg. Addressing the robot whose legs have only two degrees of freedom, this paper explores several turning strategies including altering the median value, changing the phase difference, and modifying the amplitude. The insights of the proposed methods are that we break down the symmetries which exist during the process of the robot locomotion and rebuild them. Since we probe into the turning feasi- bility from the points of the median value, phase, difference and amplitude in the sine functions, these turning methods are feature of universality. In order to evaluate these methods, this paper presents a new way to weigh the stability, which can be easily applied to practical robots. Experiments demonstrate that the quadruped turns around with little effort and endeavor.

关 键 词：quadruped robot turning methods CONTROLLER AMPLITUDE mediam value phase difference 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]