Dynamic quadruped walking stabilized with trunk motion

Atsuo Takanishi, Jin'ichi Yamaguchi, Mitsuyasu Iwata

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    4 Citations (Scopus)

    Abstract

    The authors have started to study on the development of a hydraulically powered quadruped walking robot having a trunk which stabilizes its walking by generating compensation moment to the ground for higher mobility on a flat floor. This paper describes a motion control method of the trunk for moment compensation and results of dynamic simulation for the walking.

    Original languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    Editors Anon
    Place of PublicationPiscataway, NJ, United States
    PublisherIEEE
    Pages165-172
    Number of pages8
    Volume3
    Publication statusPublished - 1995
    EventProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
    Duration: 1995 Aug 51995 Aug 9

    Other

    OtherProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3)
    CityPittsburgh, PA, USA
    Period95/8/595/8/9

    Fingerprint

    Motion control
    Robots
    Computer simulation
    Compensation and Redress

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Takanishi, A., Yamaguchi, J., & Iwata, M. (1995). Dynamic quadruped walking stabilized with trunk motion. In Anon (Ed.), IEEE International Conference on Intelligent Robots and Systems (Vol. 3, pp. 165-172). Piscataway, NJ, United States: IEEE.

    Dynamic quadruped walking stabilized with trunk motion. / Takanishi, Atsuo; Yamaguchi, Jin'ichi; Iwata, Mitsuyasu.

    IEEE International Conference on Intelligent Robots and Systems. ed. / Anon. Vol. 3 Piscataway, NJ, United States : IEEE, 1995. p. 165-172.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Takanishi, A, Yamaguchi, J & Iwata, M 1995, Dynamic quadruped walking stabilized with trunk motion. in Anon (ed.), IEEE International Conference on Intelligent Robots and Systems. vol. 3, IEEE, Piscataway, NJ, United States, pp. 165-172, Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, 95/8/5.
    Takanishi A, Yamaguchi J, Iwata M. Dynamic quadruped walking stabilized with trunk motion. In Anon, editor, IEEE International Conference on Intelligent Robots and Systems. Vol. 3. Piscataway, NJ, United States: IEEE. 1995. p. 165-172
    Takanishi, Atsuo ; Yamaguchi, Jin'ichi ; Iwata, Mitsuyasu. / Dynamic quadruped walking stabilized with trunk motion. IEEE International Conference on Intelligent Robots and Systems. editor / Anon. Vol. 3 Piscataway, NJ, United States : IEEE, 1995. pp. 165-172
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