Development of quadruped walking locomotion gait generator using a hybrid method

Jasni, Farahiyah and Shafie, Amir Akramin (2013) Development of quadruped walking locomotion gait generator using a hybrid method. IOP Conference Series: Materials Science and Engineering, 53 (1). 012082-1. ISSN 1757-8981

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Abstract

The earth, in many areas is hardly reachable by the wheeled or tracked locomotion system. Thus, walking locomotion system is becoming a favourite option for mobile robot these days. This is because of the ability of walking locomotion to move on the rugged and unlevel terrains. However, to develop a walking locomotion gait for a robot is not a simple task. Central Pattern Generator (CPGs) method is a biological inspired method that is introduced as a method to develop the gait for the walking robot recently to tackle the issue faced by the conventional method of pre-designed trajectory based method. However, research shows that even the CPG method do have some limitations. Thus, in this paper, a hybrid method that combines CPG and the pre-designed trajectory based method is introduced to develop a walking gait for quadruped walking robot. The 3-D foot trajectories and the joint angle trajectories developed using the proposed method are compared with the data obtained via the conventional method of pre-designed trajectory to confirm the performance.

Item Type:	Article (Journal)
Additional Information:	5119/36117
Uncontrolled Keywords:	quadruped walking locomotion
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr Amir Shafie
Date Deposited:	27 Mar 2014 11:14
Last Modified:	16 Apr 2014 14:05
URI:	http://irep.iium.edu.my/id/eprint/36117

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