| Author Name | Affiliation | | Li Bin | Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China | | YANG Yi-ping | Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China | | SHAO Xue-song | Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China | | Wang Wei | Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China |
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| Abstract: |
| 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. |
| Key words: quadruped robot turning methods controller amplitude mediam value phase difference |
| DOI：10.11916/j.issn.1005-9113.2011.05.002 |
| Clc Number:TP242.6 |
| Fund: |
