Balance Control of a Quadruped Robot Based on Foot Fall Adjustment
Balance Control of a Quadruped Robot Based on Foot Fall Adjustment
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Publisher
Basel: MDPI AG
Journal title
Language
English
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Publisher
Basel: MDPI AG
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Scope and Contents
Contents
To balance the diagonal gait of a quadruped robot, a dynamic balance control method is presented to improve the stability of the quadruped robot by adjusting its foot position. We set up a trunk-based coordinate system and a hip-based local coordinate system for the quadruped robot, established the kinematics equation of the robot, and designed a r...
Alternative Titles
Full title
Balance Control of a Quadruped Robot Based on Foot Fall Adjustment
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Author / Creator
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Record Identifier
TN_cdi_doaj_primary_oai_doaj_org_article_f64bc587ac4d482091e8be105f8c833a
Permalink
https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_doaj_primary_oai_doaj_org_article_f64bc587ac4d482091e8be105f8c833a
Other Identifiers
ISSN
2076-3417
E-ISSN
2076-3417
DOI
10.3390/app12052521
