Abstract
In this paper, a new biomimetic control method for a quadruped walking robot is proposed. The method is derived by the observation of the gravity load receptor and stimulus-reaction mechanism of quadrupeds' locomotion, and the study of the stances on walking and energy efficiency. Though the controller is simple, it provides a useful framework for controlling a quadruped walking robot. In particular, by introducing a new rhythmic pattern generator the heavy computational burden to be paid on solving kinematics is relieved. The effectiveness of the proposed method is validated via a dynamic simulation and experimental works in a quadruped walking robot, called AiDIN(Artificial Digitigrade for Natural Environment).
| Original language | English |
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| Title of host publication | Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 |
| Pages | 2969-2974 |
| Number of pages | 6 |
| DOIs | |
| State | Published - 2007 |
| Event | 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States Duration: 29 Oct 2007 → 2 Nov 2007 |
Publication series
| Name | IEEE International Conference on Intelligent Robots and Systems |
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Conference
| Conference | 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 |
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| Country/Territory | United States |
| City | San Diego, CA |
| Period | 29/10/07 → 2/11/07 |
Bibliographical note
Funding Information:★ This research was supported in part by the project of the dual-use technology for military and civilian missions(”Development of Quadruped Robots”) of the Ministry of Commerce, Industry and Energy (MOCIE), KOREA.
