Location of legged robots in outdoor environments
Robotics and Autonomous Systems
Fault-Tolerant Gait Planning for a Hexapod Robot Walking over Rough Terrain
Journal of Intelligent and Robotic Systems
Accurate tracking of legged robots on natural terrain
Autonomous Robots
Gait learning method for quadrupedal robot based on subjective human feeling
FUZZ-IEEE'09 Proceedings of the 18th international conference on Fuzzy Systems
Control of a quadruped robot with enhanced adaptability over unstructured terrain
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Gait generation for a quadruped robot using Kalman filter as optimizer
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Comprehensive summary of the Institute for Human and Machine Cognition's experience with LittleDog
International Journal of Robotics Research
Improving traversability of quadruped walking robots using body movement in 3D rough terrains
Robotics and Autonomous Systems
Effects of turning gait parameters on energy consumption and stability of a six-legged walking robot
Robotics and Autonomous Systems
Journal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology - Recent Advances in Soft Computing: Theories and Applications
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This paper presents a method for generating free gaits for quadruped robots capable of performing statically stable, omnidirectional locomotion on irregular terrain containing forbidden areas. The rule-based deliberative algorithm can generate flexible sequences of leg transferences while maintaining constant vehicle speed. The foothold planning method is compatible with the use of these flexible leg sequences, and is designed to maintain a minimum absolute stability margin despite the terrain height uncertainty. The integration of exteroceptive terrain profile data has been considered to improve adaptability. Experimental results are presented to show the gait's efficiency in adapting to an irregular terrain containing forbidden areas.