Hostname: page-component-78c5997874-j824f Total loading time: 0 Render date: 2024-11-18T05:54:57.819Z Has data issue: false hasContentIssue false
  • English
  • Français

Basic characteristics and stability properties of quadruped crab gaits

Published online by Cambridge University Press:  09 March 2009

Byungeui Min ,
Zeungnam Bien  and
Seungku Hwangt†
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper, we investigate the crab gaits of a quadruped. Some important characteristics that simplify the analysis of crab gaits are presented, and several formulas for optimizing the longitudinal gait stability margin of a quadruped crab gait are derived by incorporating the time weighting factor. The analysis and implementation of the gait have been simplified by employing a pseudo-world coordinate frame as a reference frame for describing footholds and vehicle's motion. We also suggest a unique gait which optimizes gait stability margin according to the range of crab angle. Finally, we consider the effects of variations of footholds on stability and maximum permissible stroke in terms of support boundary angle. The results derived in this paper contain previous works on the forward walking gait as a special case of the crab gait.

Keywords

Quadruped crab gaitStability marginPseudo-world coordinate frameTime weighting factorSupport boundary angle.
Type
Research Article
Information
Robotica , Volume 11 , Issue 3 , May 1993 , pp. 233 - 243
Copyright
Copyright © Cambridge University Press 1993

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.M., Hildebrand, “Symmetric gaits of horses” Science 150, 701–708 (1965).Google Scholar
2.McGhee, R.B. & Frank, A.A., “On the stability properties of quadruped creeping gaits” Math. Biosciences 3, 331–351 (1968).CrossRefGoogle Scholar
3.Song, S.M. x0026; Waldron, K.J., “An analytical approach for gait study and its applications on wave gaits” Int. J. Robotics Research 6, No. 2, 61–70 (1987).CrossRefGoogle Scholar
4.Zhang, C.D. x0026; Song, S.M., “Stability analysis of wave-crab gaits of a Quadruped” Int. J. Robotic Systems 7, No. 2, 243–276 (1990).CrossRefGoogle Scholar
5.Kumar, V. x0026; Waldron, K.J., “Gait analysis for walking machines for omni-directional locomotion on uneven terrain” Proceedings of the 7th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators (1988) pp. 37–62.Google Scholar
6.McGhee, R.B. x0026; Iswandhi, G.I., “Adaptive locomotion of a multilegged robot over rough terrain” IEEE Trans, on Systems, Man and Cybernetics 9, No. 4, 176–182 (1979).CrossRefGoogle Scholar
7.Pal, P.K. & K., Jayarayan, “Generation of Free Gait - A Graph Search Approach” IEEE Trans. Robotics and Automation 7, No. 3, 299–305 (1991).CrossRefGoogle Scholar
8.Hirose, S., “A study of design and control of a quadruped walking vehicle” Int. J. Robotics Research 3, No. 2, 113–133 (1984).CrossRefGoogle Scholar
9.Min, B. x0026; Bien, Z., “Neural Computation for Adaptive Gait Control of the Quadruped over Rough Terrain” Proc. IEEE Int. Conf. on Robotics and Automation (1992) pp. 2612–2617.Google Scholar