BROWSE

Related Researcher

Author's Photo

Bae, Joonbum
Bio-Robotics and Control (BiRC) Lab
Research Interests
  • Design and control of physical human-robot interaction systems
  • Soft robotics
  • Intelligent interaction algorithms for virtual reality, tele-operation and rehabilitation
  • Bio-inspired robotics for improved mobility

ITEM VIEW & DOWNLOAD

A Dynamic Gait Stabilization Algorithm for Quadrupedal Locomotion through Contact Time Modulation

Cited 0 times inthomson ciCited 0 times inthomson ci
Title
A Dynamic Gait Stabilization Algorithm for Quadrupedal Locomotion through Contact Time Modulation
Author
Yeom, HoyeonBae, Joonbum
Issue Date
2021-05
Publisher
SPRINGER
Citation
NONLINEAR DYNAMICS, v.104
Abstract
In this paper, we propose a stabilization method for dynamic gaits of quadrupedal walking robots covering a wide range of speeds and various types of gait. Our stabilization method is based on adjusting the contact time between the four legs and ground. By modulating the contact time, the impact applied to the body can be controlled and stabilized. The stability provided by the proposed algorithm was proved in the sense of Lyapunov. The proposed algorithm also demonstrated robust performance under large external disturbances, and the performance was compared with other algorithms through simulations. Simulation results of bounding gaits under different ground conditions were compared, and the various types of stable gait implemented by the proposed algorithm are also presented.
URI
https://scholarworks.unist.ac.kr/handle/201301/50169
URL
https://link.springer.com/article/10.1007/s11071-021-06376-5
DOI
10.1007/s11071-021-06376-5
ISSN
0924-090X
Appears in Collections:
MEN_Journal Papers
Files in This Item:
There are no files associated with this item.

find_unist can give you direct access to the published full text of this article. (UNISTARs only)

Show full item record

qrcode

  • mendeley

    citeulike

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

MENU