Gait-Based Quadruped Robot Planar Hopping Control with Energy Planning
To improve the mobility of the quadruped robot, a planar hopping control approach is proposed based on trotting gait. With the proposed approach, three joints of the stance legs are active and the fourth leg is passive. A planar kinematic model of the supporting phase is built and the calculated pos...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2016-02-01
|
| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/62140 |