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Gait planning and intelligent control for a quadruped robot
Received:November 7,2007  Revised:April 10,2008
Keywords:Structural symmetry  Quadruped robot  Gait planning  Intelligent control  Virtual model
Fund Project:
Baoping WANG, Renxi HU, Xiaodong ZHANG, Chuangfeng HUAI Department of Mechanical and Electronic Engineering, Guangdong Baiyun University, Guangzhou Guangdong 510450, China; Department of Basic Courses, Ordnance Engineering College, Shijiazhuang Hebei 050003, China; School of Mechanical and Electronic Control Engineering, Beijing Jiaotong University, Beijing 100044, China 
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      We present a method for designing free gaits for a structurally symmetrical quadruped robot capable of performing statically stable, omnidirectional walking on irregular terrain. The robots virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. The deliberative-based controller can generate flexible sequences of leg transferences while maintaining walking speed, and choose optimum foothold for moving leg based on integration data of exteroceptive terrain profile. Simulation results are presented to show the gaits efficiency and systems stability in adapting to an uncertain terrain.
Baoping WANG, Renxi HU, Xiaodong ZHANG, Chuangfeng HUAI.Gait planning and intelligent control for a quadruped robot[J].Journal of Control Theory and Applications,2009,7(2):207~211.
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