Gait of Quadruped Robot and Interaction Based on Gesture Recognition

Thinh, Nguyen Truong; Tuyen, Nguyen Tan Viet; Son, Dang Thai

doi:10.12720/joace.4.1.53-58

Cited by 2 publications

(2 citation statements)

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“…By pairing both the fore and hind legs, the rotary gallop can be simplified to a symmetric bounding gait. The symmetric bounding gait is very suitable for simplified sagittal plane models of quadruped mammals [ 22 – 24 ]. A full symmetric bounding cycle is usually deconstructed into four typical phases: the gathered flight phase, the rear stance phase, the extended flight phase, and the front stance phase.…”

Section: Modelsmentioning

confidence: 99%

Effects of Spine Motion on Foot Slip in Quadruped Bounding

Chen

Liu

et al. 2018

Applied Bionics and Biomechanics

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Translation and bend of the spine in the sagittal plane during high-speed quadruped running were investigated. The effect of the two spine motions on slip between the foot and the ground was also explored. First, three simplified sagittal plane models of quadruped mammals were studied in symmetric bounding. The first model's trunk allowed no relative motion, the second model allowed only trunk bend, and the third model allowed both bend and translation. Next, torque was introduced to equivalently replace spine motion and the possibility of foot slip of the three models was analyzed theoretically. The results indicate that the third model has the least possibility of slip. This conclusion was further confirmed by simulation experiments. Finally, the conclusion was verified by the reductive model crawling robot.

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Section: Modelsmentioning

confidence: 99%

Effects of Spine Motion on Foot Slip in Quadruped Bounding

Chen

Liu

et al. 2018

Applied Bionics and Biomechanics

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“…The legged robots that aim at walking in the complex environment include biped robots [5], quadruped robots [6], and hexapod robots [7]. On the one hand, the mechanism of the robot leg is becoming much more complicated so as to realize proper gaits in different terrain [8].…”

Section: Introductionmentioning

confidence: 99%

A Bioinspired Gait Transition Model for a Hexapod Robot

Chang

Mei

2018

Journal of Robotics

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Inspired by the analysis of the ant locomotion observed by the high-speed camera, an ant-like gait transition model for the hexapod robot is proposed in this paper. The model which consists of the central neural system (CNS), neural network (NN), and central pattern generators (CPGs) can produce the rhythmic signals for different gaits and can realize the transition of these gait automatically and smoothly according to the change of terrain. The proposed model suggests the neural mechanisms of the ant gait transition and can improve the environmental adaptability of the hexapod robot. The numerical simulation and corresponding physical experiment are implemented in this paper to verify the proposed method.

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Gait of Quadruped Robot and Interaction Based on Gesture Recognition

Cited by 2 publications

References 0 publications

Effects of Spine Motion on Foot Slip in Quadruped Bounding

Effects of Spine Motion on Foot Slip in Quadruped Bounding

A Bioinspired Gait Transition Model for a Hexapod Robot

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