Gait and Foot Trajectory Planning for Versatile Motions of a Six-Legged Robot
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Authors
Yoneda, Kan
Suzuki, Kenji
Kanayama, Yutaka
Takahashi, Hidetoshi
Akizono, Junichi
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Date of Issue
1997
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Abstract
This article deals with the problem of planning and controlling a radially symmetric
six-legged walker on an uneven terrain when a smooth time-varying body motion is
required. The main difficulties lie on the planning of gaits and foot trajectories. As for
the gaits, this article discusses the forward wave gait of a variable duty factor and a
variable wave direction. With the commanded body motion, the maximum possibly
duty factor is computed using the speed limit of the leg swing motion. Guaranteeing this
maximum duty factor contributes to obtain higher stability.Weprove the ‘‘continuity’’ of
this forward wave gait planning algorithm adds the versatility to gaits planned. The foot trajectory planning algorithm dynamically generates a smooth foot trajectory as a
function of the instantaneous body motions by modifying standard leg motion templates.
The robot can negotiate an uneven terrain by modifying a vertical leg motion by a
signal of tactile sensors on the foot. The experiments prove that the robot can successfully
track smooth curves with body rotations on an uneven terrain, and thus prove the
robustness of the algorithms.
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Article
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Computer Science (CS)
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This work was supported by the National Science Foundation under grant BCS-9109989 and the Science and Technology Agency of Japan.
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Citation
Journal of Robotic Systems, Volume 14, No 2, pp. 121-133, 1997
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.