Dynamic quadruped walking stabilized with trunk motion

Atsuo Takanishi, Jin'ichi Yamaguchi, Mitsuyasu Iwata

Research output: Contribution to conferencePaper

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
Pages165-172
Number of pages8
Publication statusPublished - 1995 Jan 1
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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Takanishi, A., Yamaguchi, J., & Iwata, M. (1995). Dynamic quadruped walking stabilized with trunk motion. 165-172. Paper presented at Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, .