Gait planning based on kinematics for a quadruped gecko model with redundancy

Title
Gait planning based on kinematics for a quadruped gecko model with redundancy
Author(s)
서태원손동훈[손동훈]전동수[전동수]남우철[남우철]장도영[장도영]김종원[김종원]
Keywords
ROBOT; LOCOMOTION; WALKING
Issue Date
201005
Publisher
ELSEVIER SCIENCE BV
Citation
ROBOTICS AND AUTONOMOUS SYSTEMS, v.58, no.5, pp.648 - 656
Abstract
Recent research on mobile robots has focused on locomotion in various environments. In this paper, a gait-generation algorithm for a mobile robot that can travel from the ground to a wall and climb vertical surfaces is proposed. The algorithm was inspired by a gecko lizard. Our gait planning was based on inverse kinematics using the Jacobian of the whole body, where the redundancy was solved by defining an object function for the gecko posture to avoid collisions with the surface. The optimal scalar factor for these two objects was obtained by defining a superior object function to minimize the angular acceleration of joints. The algorithm was verified through simulation of the gecko model travelling on given task paths and avoiding abnormal joint movements and collisions. (C) 2009 Elsevier B.V. All rights reserved.
URI
http://hdl.handle.net/YU.REPOSITORY/22467http://dx.doi.org/10.1016/j.robot.2009.11.009
ISSN
0921-8890
Appears in Collections:
공과대학 > 기계공학부 > Articles
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