Omnidirectional Static Walking of a Quadruped Robot on a Slope

Lei Zhang; Shugen Ma; Yoshinori Honda; Kousuke Inoue

doi:10.20965/jrm.2006.p0051

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JRM Vol.18 No.1 pp. 51-58

doi: 10.20965/jrm.2006.p0051

(2006)

Paper:

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Omnidirectional Static Walking of a Quadruped Robot on a Slope

Lei Zhang^, Shugen Ma^,, Yoshinori Honda^,
and Kousuke Inoue^

^*Department of Systems Engineering, Faculty of Engineering, Ibaraki University, 4-12-1 Nakanarusawa-Cho, Hitachi-Shi 316-8511, Japan

^**COE Research Institute, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu-Shi 525-8577, Japan

^***Computron Corporation, 1-11-2 Tonnya-Cho, Maebashi-Shi 371-0855, Japan

Received:

May 17, 2005

Accepted:

July 25, 2005

Published:

February 20, 2006

Keywords:

quadruped robot, omnidirectional walking, body posture, successive gait transition, walking on a slope

Abstract

We propose successive gait transition with arbitrary body posture to enable a quadruped robot to walk statically and omnidirectionally on a slope. Body posture is determined by rotation around 3 axes, roll, pitch, and yaw. Successive gait transition with a minimum number of steps on a slope is realizable using common foot position before and after gait transition. The time required to transit between gaits is reduced by carefully designing foot position in crawling and rotating while limiting foot reachable region on a slope. The robot thus walks into any direction with arbitrary body postures. In this study, we also verify a tradeoff relation between motion speed and body posture. Computer simulation and experiments verified the feasibility of our proposed method and the stability of gait transition based on static stability margin.

Cite this article as:

L. Zhang, S. Ma, Y. Honda, and K. Inoue, “Omnidirectional Static Walking of a Quadruped Robot on a Slope,” J. Robot. Mechatron., Vol.18 No.1, pp. 51-58, 2006.

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References

[1] S. Hirose, H. Kikuchi, and Y. Umetani, “Standard Circular Gait of a Quadruped Walking Vehicle,” Advanced Robotics, 1-2, pp. 143-164, 1986.
[2] S. Hirose, Y. Fukuda, and H. Kikuchi, “The Gait Control System of a Quadruped Walking Vehicle,” Advanced Robotics, 1-4, pp. 289-323, 1986.
[3] S. Hirose, and O. Kunieda, “Generalized Standard Foot Trajectory for a Quadruped Walking Vehicle,” Int. J. of Robotics Research, 10-1, pp. 3-11, 1991.
[4] Y. Fukuoka et al., “Adaptive Dynamic Walking of a Quadruped Robot ‘Tekken’ on Irregular Terrain Using a Neural System Model,” Proc. IEEE/RSJ Int. Conf. on Robotics and Automation (ICRA2003), pp. 2037-2042, 2003.
[5] H. Tsukakoshi, and S. Hirose, “The Proposal of the Intermittent Crawl Gait and its Generation,” J. of the Robotics Society of Japan, 17-2, pp. 301-309, 1997 (in Japanese).
[6] A. Konno et al., “An Adaptive Gait for Quadruped Robots to Walk on a Slope,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2003), pp. 589-594, 2003.
[7] H. Adachi et al., “Semi-Autonomous Walking Based on Leg Transition at the Border of the Leg Work Space,” J. of the Robotics Society of Japan, Vol.16, No.3, pp. 329-336, 1998 (in Japanese).
[8] V. Hugel, and P. Blazevic, “Towards Efficient Implantation of Quadruped Gaits with Duty Factor of 0.75,” Proc. IEEE Int. Conf. on Robotics and Automation (ICRA1999), pp. 2360-2365, 1999.
[9] S. Ma, T. Tomiyama, and H. Wada, “Omnidirectional Static Walking of a Quadruped Robot,” IEEE Transactions on Robotics, Vol.21, No.2, pp. 152-161, 2005.
[10] Y. Honda, S. Ma, and K. Inoue, “Omni-directional Walking of a Quadruped Robot on a Slope,” in Proc. 2002 Annual Conf. of the Robotics Society of Japan (CD-ROM), 2002 (in Japanese).
[11] K. Arikawa, and S. Hirose, “Development of Quadruped Walking Robot TITAN-VIII,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS1996), pp. 208-214, 1996.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] S. Hirose, H. Kikuchi, and Y. Umetani, “Standard Circular Gait of a Quadruped Walking Vehicle,” Advanced Robotics, 1-2, pp. 143-164, 1986.

[2] [2] S. Hirose, Y. Fukuda, and H. Kikuchi, “The Gait Control System of a Quadruped Walking Vehicle,” Advanced Robotics, 1-4, pp. 289-323, 1986.

[3] [3] S. Hirose, and O. Kunieda, “Generalized Standard Foot Trajectory for a Quadruped Walking Vehicle,” Int. J. of Robotics Research, 10-1, pp. 3-11, 1991.

[4] [4] Y. Fukuoka et al., “Adaptive Dynamic Walking of a Quadruped Robot ‘Tekken’ on Irregular Terrain Using a Neural System Model,” Proc. IEEE/RSJ Int. Conf. on Robotics and Automation (ICRA2003), pp. 2037-2042, 2003.

[5] [5] H. Tsukakoshi, and S. Hirose, “The Proposal of the Intermittent Crawl Gait and its Generation,” J. of the Robotics Society of Japan, 17-2, pp. 301-309, 1997 (in Japanese).

[6] [6] A. Konno et al., “An Adaptive Gait for Quadruped Robots to Walk on a Slope,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS2003), pp. 589-594, 2003.

[7] [7] H. Adachi et al., “Semi-Autonomous Walking Based on Leg Transition at the Border of the Leg Work Space,” J. of the Robotics Society of Japan, Vol.16, No.3, pp. 329-336, 1998 (in Japanese).

[8] [8] V. Hugel, and P. Blazevic, “Towards Efficient Implantation of Quadruped Gaits with Duty Factor of 0.75,” Proc. IEEE Int. Conf. on Robotics and Automation (ICRA1999), pp. 2360-2365, 1999.

[9] [9] S. Ma, T. Tomiyama, and H. Wada, “Omnidirectional Static Walking of a Quadruped Robot,” IEEE Transactions on Robotics, Vol.21, No.2, pp. 152-161, 2005.

[10] [10] Y. Honda, S. Ma, and K. Inoue, “Omni-directional Walking of a Quadruped Robot on a Slope,” in Proc. 2002 Annual Conf. of the Robotics Society of Japan (CD-ROM), 2002 (in Japanese).

[11] [11] K. Arikawa, and S. Hirose, “Development of Quadruped Walking Robot TITAN-VIII,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS1996), pp. 208-214, 1996.

Omnidirectional Static Walking of a Quadruped Robot on a Slope

Lei Zhang*, Shugen Ma*,**, Yoshinori Honda***, and Kousuke Inoue*

Lei Zhang^, Shugen Ma^,, Yoshinori Honda^,
and Kousuke Inoue^