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Proceedings of the 1993 I

E
E
m
S
J International Conference on Intelligent Robots and Systems Yokohama,Japan July 26-30.1993

GAIT SYNTHESIS FOR QUADRUPED ROBOT WALKING


UP AND DOWN SLOPE
JunNin Pan

Junslii Cheng

Shanghai Jiao Tong University


P.R.Chiiia

1954 Hua shan Road, Shanghai 200030.

ABSTBACT
\

Authors of this paper have already published a paper


concerned with quadruped robot walking up or down slope
[l].In that paper authors studied slope recognition,
gradient measuring method for quadruped robot walking
from level to slope,the reason and algorithm of body
turn,gait adjustment in transition area.maximum gradient
of the slope for the robot to climb and optimum height
of the body.Three rules used to recognize a slope are
proposed in that paper but they were not proved . This
c *I - paper is a continuation of that paper. V
I W bauthors study motion laws of quadruped robot in other
environments which are concerned with slope) i. e. from
a slope to another s l o p e o p
recisnition and gradient measuring rethod
cr
for all environments which are concerned with s1opQ)he
hich are used to recognize a slope are
uthors study prediction of posture after
posture adjustment before body turn, the
length of@adruped
robot in
JTUYH-I1 a quadruped robot
by Shanghai Jiao Tong Univ.
walking up slope.

4"

2. UNIFICATION OF SLOPE RECOGNITION AND

GRADIENT HEASURING NETUOD

There ai-e tactile sensors mounted on the botiom and


sides of each foot.With the sensors the quadruped robot
have adaptability to rough terrain and obstacles. In
walkin9 wlieri a t;ictilc sensor o i i s i d e of swinging foot
is touched the robot judges an obstacle is set, then the
robot lifts the foot as high as possible to stride over
the obstacle.When a tactile sensor on bottom of swinging
foot is touched the robot judses the foot has touched
ground, theii the foot stops moving and control system
records the Z-coordinate of the foot. Slope also can
cause changes of Z-coordinate of swinging foot.According
to the information from tactile sensors on feet the
robot can judge whether a slope is met and what the
gradient of the slope is. Assume that intersection line
of surfaces of two environments is perpendicular to the
direction of walking authors of this paper propose
following rules to recognize a new slope :
a. The two front feet of a quadruped walking robot have
chanyes of position as colupared with normal position
coritinuously two times in 7. direction when touching
ground.the changes have the same direction.
b. The latter changes of position is bigger than double
former changes of position.
c. The former changes of position of the two front
feet are the "the
latter changes of position of
the two front feet also are the sase.
I f above three conditions are satified the robot judses
a new slope is met. Here slope has broad sense.leve1 can
be seen as c? slope which has sradient zero.
When robot walks on down slope i f its front feet have
positive clianyes of position , the robot judges a i~cw
slope xliicli has positive differential sradjeiit is met,
the differential gradient of the two enviroiimeiits can be
expressed as

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532

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a=tan-l

lAhl
-

(1)

Assume t h a t the gradient of o r i g i n a l slope is ao.


if a h o new slope is UP slope as shown i n Fig.Z(a),
i f u=ao new environment is level a s shown i n Fiy.f(b),
if a<ao new slope still is down slope but the gradient
is smaller as shown i n Fiy.2(c).
I f its f r o n t f e e t have negative clianyes of position the
robot judges a new slope which liave negative
d i f f e r e i i t i a l gradient is met. Calculation forwu1;i of U
still is (1).
The new environment still i s down slope,but the gradient
of new slope is l a r g e r than o r i y i n a l oiie as sliown in
Fig.Z(d).Yhen the robot walks on up slope i f its f r o n t
f e e t have negative changes of position. the robot judges
a new slope which have negative d i f f e r e n t i a l gradient is
met.
Tlie d i f f e r e n t i a l gradient of two environment can be
expressed as (1) .Assume t h a t the gradient of o r i g i n a l
slope is a.
i f a h o new slope is down slope as shown i n 'Fig.3(a),
i f o=ao new environment is l e v e l as shown i n Fig.J(b),
i f a < a D new slope s t i l l is up slope but t h e gradient
of new slope is smaller as shown i n Fig.S(c).
I f its f r o n t f e e t have p o s i t i v e clianyes of position the
robot judyes a new slope which have p o s i t i v e d i f f e r e n t i a l gradient is met. calculation formula of I still is
(1) ..The new eiivironment still is up slope, but the
gradient of iiew slope is l a r g e r than o r i g i n a l one as
s l i o ~ ni n Fig.3(d).

?\
*4

?.

'<

a. new slope is a u p slope.


b. new environment is level.
c. new slope st i I I is a down slope,
but the gradient i s snwllsr than
original one.
d. new slope still is a down slope.
but the gradient is larger than
origlnal one.

Fig.2. Robot walks on a down slope.


and w e t s a new rlopz.

Synthesize above two cases fo1lol;iiig


coilclwion uray be obtained:
a . posture sensor gives the gradieiit uf the slope on
wliicli ltre robot welks.If the gradient is p o s i t i v e
the slope is up slopc.If t h e gradieilt is neydtive
the slope is down slope. I f Ll~c yradieiit is zero
the eilviroilwent is lcvcl.
L. ulieii tlic frolit f e e t of the robot have positive
cllnriUcs of yositiori in 2 direction. differeiitiul
gr.idiciiL J is calcu1;itcd with (1) .The robot slioiild
turn i I s body II dcgrccs coiiiilcrclocl,visc. llic posture seiisor will g i v e the irisliiiatiuii of the body.
c. wlicfi the frolit f e e t of the W b O L have negative
ch,iiiycs of positioii in 2 d i r e c t i o n d i f f e r e n t i a l
gradient U is still calculated with (1). The robot
should turn its body II deyrees clockk'ise.The posture sensor will give t h e i n c l i n a t i o n of the body.
Three r u l e s for recognition of a slope a r e proved ;IS
f 011OYS
Apparelit l y v i th three rules, obstacle, d i tcli, stop, s t a i r s
a r e impossible to be confused with slope. The oidy
environwent which is possible t o be confused with slope
is rough t e r r a i n as shown in Fiu.4.
The problciu is how large the p r o b a b i l i t y of confusion
is. ,\ssuiuc that on rouoli t e r r a i n the protrusions,
depressions and f l a t f l o o r area a r e d i s t r i b u t e d a t
randoru and probability of each cnvironiuent is 1/3.
Thc event t h a t when touching ground the r i g h t f r o n t foot
has f i r s t position cliangcs as compared w i t h normal
position is dcnoted a s A l l , the event t h a t when touching
ground the r i g h t froiit foot has second position change
as compared with normal p o s i t i o n in same direction is
denoted as Bll,the event t h a t Khen touching ground the
l e f t f r o n t foot has f i r s t p o s i t i o n change a s compared
with norural position in same d i r e c t i o n is denoted as
d s l , the e \ w l t tliallt %hen totichiits wound t h e the l e f t
f r o n t f o o t has second p o s i t i o n chaiioe a s compared w i t h
normal position i n sawc d i r e c t i o n is denoted a s BZ1.
because All, Dll, A n a , Bvl are independent events,the
probability of event t h a t the tvo froiit f e e t liave
position changes i i i same d i r e c t i o n coiitinuously two
is as follows
times P(Al1~Bl1~AZl~BZl)
P(A,,~B,,~A,~~B,,~=P~~~~)s ~ ( ~ , l )*P(.L,) .p(nZl)
(2)
Probability densit) function of a rnndour variable X
which represents height of protrusions or depth of
depressions is denoted as f(X) erid f i r s t position chanye
of f r o n t f e e t is deiioted a s XI the probability of second
position chanye of f r o n t f e e t vhich is l a r g e r than PX,is
as follows:
P(X > 2x1)=
f(x)dx
(3)

jz,

/-

'

In (3) X a is niaxiniuur Iieight of protrusions or waximuur


depth of depressions. Assuwe t h a t F(X) is d i s t r i b u t i o n
function of a randoto variable X, from (3) following
formula is got:
P (X>ZYl)=l-P(2XJ
(4)
For calculating probability of confusion X1 should be
equal or s ~ l a l l e rthan X J 2 .
The event t h a t height of t h e protrusion r i g h t front
foot f i r s t touches is X I and height of another
protrusion r i g h t front foot continuously touches is
equal or l a r g e r than 2Xl is denoted as Cll, the event
theat same tliing happens t o l e f t froiit foot is denoted
as Clz.Tlie cvcnt t h a t depth of the depression rislit
froirt foot f i r s t touches is Xl and depth of another
depression r i g h t f r o n t foot coiitinuously touches is
equal 01' larger than 2X, is denoted as CZ1. the event
that s u e L l i i i i v Iiappeiis to l e f t f r o n t foot is dciioted as

a. new slope is a down slope.


b. new environaent is level.
C. nrw slope still is a up slope
but the gradient is smaller than
otiginal one.
d. new slope still Is a up slope
but the grndiant i s larger than
original one.

Fig.3. Robot walks on a up slope

and meits a new slope.

533

Cz2.Probabi1ity of event C,

is as follows:
(5)

Assume t h a t f (XI is uniform distributioi1,so


f ( x 1 = l/Xz
F( X 1 = X/Xz

:J2

P(cll)=

f(Xl)[l-F(2Xi)ldXi

1
r -

According t o same reason p r o b a b i l i t y of event Cl,, Czl,


and Czz seperately is
P(Czz) 2 1/4.
P(Ciz) = 1/4 , P(Cz1) = 1/4 ,
The event t h a t two f r o n t f e e t meet protrusions
continuously two times and height of f i r s t protrusion is
X1 and height of second protrusion is equal or larger
than 2Xl is denoted as D1.Probability of D1 is
P ( D i ) = P ( A I ~ ~ B I ~ * A z 'P(Cii)
~ + B z ~.P(Ciz)
)
(6)
The event t h a t two f r o n t f e e t meet depressions
continuously two times and depth of f i r s t depression is
XI and depth of second depression is equal or larger
than 2X1 is denoted a s D2.
Probability of events D r is
P(Dz)= P ( A i 1.Bi1 ~ A z*i B n i ) P (Czi) 'P(Czz1
(7)
Total probability of events D1 and Dz is denoted a s Plz
P i z=P (D 1) t P (Dz1
(8)
Calculating Plz with values of A l l , B 1 1 , A 2 1 . B ~ 1 , C ~ 1 , C 1 Z
Czl,Ca2,the probability of confusion of rough t e r r a i n
with slope is obtained a s follows:
P i z = 1/648
(9)
Further i f uniformity t h a t two f r o n t f e e t have position
changes is considerd Plz will be g r e a t l y smaller than
value of (9).So t h e method of slope recognition with
three r u l e s is r e l i a b l e . I t is almost impossible t o make
slope t o be confused with other environments.

f e e t go out of lnotion space n f t e r body turn control


system judves tlie slope is too s t e e p $01' the robot t o
climb.hccording t o the same reason i f control systen
pi~etlict 111'11 back feet will keep tiitilia wotioti s i w c
wliile f r u n t f e e t will go beyotrd lower edge of' motion
space ;lfter body t u i - i r control system sliuuld appropriately lowcr body of the robot first their t u i m i t . I n Xd i r e c t i o n ~ I I ~ body
I I o r 1Iie robot turns count erclockwise
X-i:oordiiist,es 01' four f e e t a l l reduce.If coutrol systen
p1,edict tkit any one of four f e e t h i l l go beyolld b d
edge of motion space body of the robot should move backward c e r t a i n distance f i r s t then turns.
When the robot meets a slope which has negative
d i f f e r e n t i a l s r a d i e n t body of t h e robot should t u r n
clockwise. Iii this case prediction is still heeded . i f
there a r e f e e t which will go beyond edge of notioii
space a f t e r body turn clockuise posture of the body
should be regulated then the body turns.The t r a i n of
thouglit is the same but d i r e c t i o n of reyulation is
opposite t o f i r s t case.
3.1 DETERHIIIATION OF REGULATIVE QUANTITY

k'hen the robot meets a slope khich has positive


d i f f e i m t i n l g r d i e n t motion space in 2-direction of
back f e e t of the robot is shown on Fig.5.

/I

3. POSITION PREDiCTION AND POSTURE R E G U d O N


BEFORE BODY TURN
I

In JTUWH-8 pantograph mechanism is use&. There a r e


limits of motion space f o r every degree of' freedom.It is
necessary for body of t h e walking rob01 t o turn t o
p a r a l l e l with sloping surface. But before body t u r n
control system should p r e d i c t t h e positions of four f e e t
t o see whether they will go beyond the limits of motion
space.If they will coiitrol system should appropriately
regulate posture of tlie robot f i r s t then has body of the
robot turn.
When the robot meets a slope which i has positive
d i f f e r e n t i a l s r a d i e n t body of t h e robot should t u r n
counterclockwise.2-coordinatrs of f r o n t f e e t reduce and
Z-coordinates of back f e e t increase.
I f control systeB p r e d i c t s t h a t backfeet will so beyond
upper edge of motion space while front f e e t w i l l keep
within motion space a f t e r body t u r n counterclockwise
control system should appropriately r a i s e body f i r s t
then turn it.The amount of r i s e of body of the robot
should guarantee the I r o n t f e e t and back f e e t within
motion space before and a f t e r body turn.further more the
back f e e t should be i n some distance from upper edge of
motion space a f t e r bofy t u r n t o guarantee t h a t back f e e t
are able t o r i s e and swing.If r i s e of body of the robot
have back f e e t keep within motion space but have front

534

Fig.4.

\\ -'

Robot walking on
rough terrain.

Z3

F i g . 5 . Sidc view of notion space


of back f e e t i n 2-direction.

i s Z-coordinate of back f e e t before body turn,

Zmhr is tipppcr edge of wotion space in Z-direction,Z,'


is 2-coordiiite 01 back f e e t n f t e r
body turn
counterclockwise. Z8' goes beyond upper edge of motion
s i n c e in 2-direction and it is obtained frow follouillg
f o r mula

From (10)

zy'= (-sin*) sx.tcosu ,zS'


A L ' is quantity of going beyond uppcr

edge

(11)

A Z j ' =Zil'-Z~soi*
(12)
Assume t h a t body of t h e robot rise A L f i r s t then turns
counteiwlockuise back f e e t reach, , ,Z
exactly, from (10)

Le,=(-sini) .Xytcosn (Z3-bZa)


From (11) (12)
b23= (Z3'-2m*x)/COSU
= AZs'/COSt
(13)
The regulate quantity AZS can be obtained from (13).
In (13) bZ3' is from predictioii with (11) and (12).
Hotion space i n X-direction of f r o n t f e e t of the robot
is shown in Fig.6. Xi is X-coordinate of f r o n t f w t
before body turn.Xpin is back edge of notion space in X
-direction.Xl' is X-coordinate of f r o n t f e e t a f t e r body
turn coiinterc1ockwise.Xlr goes beyond back edge of motion
space i n X-directioii.
From (10)

Xi'= cosa ~Xltsine~Z1


(14)
AX1' is quantity of going beyond back edge
AXi'. Xmin-Xi'
(15)
Assume that body of the robot moves backward AX1 first
then turns counterclockwise front feet reach Xmln
exactly.Prom (IO)
Xmln= cosa (Xl+AXl)+sina *Z1
= cosa~Xltcosa~AXl+sina
*Z1
Prom (141, (15)
AXi= (Xmxn -Xi')/COSU = AXi'/cosa
(16)
The regulative quantity AX1 can be obtained from (IG).
In (16) AX,' is from prediction with (14) and (15).
When the robot meets a slope which has negative
differential gradient regulative quantity can be
obtained with sane train of thought.
0

3.2

EFFECTS OF BODY REGULATION TO COORDINATES OF 4 FEET


AFTER BODY TURN

Body regulation in X-direction will affect foot


positions in Z-direction after body turn.Body regulation
in 2-direction will also affect foot positions in
X-direction after body turn. When the effects are big
enough those degrees of freedom which originally don't
go beyond edges of motion space may go beyond edges
of motion space after body turn. So prediction needs to
be done repeatedly until appropriate regulative quantities in X-direction and in Z-direction are obtained. Vith
these regulative quantities there is no foot going
beyond edges of motion space after body turn.
When the robot meets a slope which has positive
differential gradient as shown in Pig.7.
If body of the robot moves backward in X-direction first
as regulation Z-coordinates of four feet after body turn
counterclockwise will all reduce compared with corresponding ones without body regulatioii in X-direction.
because body turn counterclockwise causes Z-coordinates
of back feet to increase less and Z-coordinates of front
feet reduce more body regulation in backward direction
will be favourable to Z-coordinates of back feet but
unfavourable to Z-coordinates of front feet.
If body of the robot rises first as regulation Xcoordinates of four feet after body turn counterclockwise will all reduce compared with corresponding ones
without body rise. Because body turn counterclockwise
causes X-coordinates of four feet to reduce body
regulstion in up direction will be unfavourable to
X-coordinates of four feet.
To all environments which are concerned with slope
effects of body regualtion on X-coordinates and
Z-coordinates of four feet list in table 1.

I-I

thrce lcgs will support the body, projection of the


center of gravity of the robot 0, must be in triangle
composed of the three supporting feet to maintain
stability of the robot.If O1 is out of the triangle the
robot must move it.s body until Ol is in the triangle
before a leg is raised neglecting effect of position
change of 4 legs on the center of gravity of the robot
O.!4hen the robot walks on the flat floor,because the
three supporting feet have the sane Z-coordinate, the
method of calculating area of plane triangle can be used
to judge whether the projection of the center of gravity
of the robot is in the triangle[". In the transition
area frow level to slope( or, from one slope to another
slope) because the body of the robot is parallel with
sloping furface and supporting feet have different Zcoordiiiate the method of calculating area of solid
triangle should be used to judge whether O1 is in the
trianglc. The formula of calculating area of solid
triangle is as folloks
S=-1

Fig.6. Vertical view of notion Fig.7. Effect of body regulation


in X-direction to coordinntes
space of front feet
of 4 feet afer body turn.
in X-direction.

4. STABILITY JUDGEHENT OF QUADRUPED WALKING

ROBOT IN TRANSITION AREA

In static walking when a leg is going to suing other

'

y.-y,
z2-z,
ys-y, za-2.1:

"1-21

xy-P,

=,-=I

xI-xl

II

xa-x,

)'a-y,

xs-x.

y3-y,

I*

(i'i)

But calculatiny area of solid trianyle is more comples


than calcualting area of Plane triaiigle.So tie propose a
imaginary coordinate transformation nethod in Khich the
body of the robot is ilnngiiicd to turn t o parallel
with 1evel.In new coordiiiate system whether 0, is i n the
triaiigle composed of three supporting feet is decided by
calculatiiiy area of a plane triangle.As s h o m in Fig.8
in coordiilatc system syz leg4 is going to Le raised,
suppclrliilg f e e t P1,P2,P:, couposed il solid triiigle. In
or&r to siluplify calcirlating for stability judseaait

535

Fig.8.

Transformation from
solid triangle into
plans triangle.

Fig.8.

reference 111 the distance from initLa1 p o s i t i o n in Xd i r e c t i o n of back f e e t t o back edye of motlon space L,'
should meet followiny formula
Lr' 2 1/2 s
(21)
In (21) S is s t e p length.
La' = I3 - A13
'
(22)
The distance from i n i t i a l position i n X- d i r e c t i o n of
f r o n t f e e t to back cdye of motioii space '.L
should neet
following formula
Is' b 31.1 s
Lz' = Lz - ALz
(2.1)
When Lz'and Ls'are d e f i n i t e , waxiwulu s t e p lengths StU2
and Smr may be seperately o b t a i n d frolu L,' and 13'
s,, = U 3 La'
(25)
Sm3 = 2 L Y '
(26)
P r a c t i c a l utnxiuum s t e p length Sol chooses minkuu one
between SmZ and SmY
S, = Hin(Smz,Sms)
(27)
In (19) and (20) amounts of A l a and AL3 a r e coliceriled
with gradient of slope P , X-coordinates and Zcoordinates of four f e e t before body turn, while these
values are coliceriled with envionluent in vhich the robot
walks.
I f quadruped robot walks in trtinsition a r e a frow slope
t o level or frou one slope t o another slope, the
maximuw s t e p leibgth are still calculated from (191, (201,
(22),(24).(25),(26),(27),but
3 i a (19),(20) has broad
sciisc i n 14iicIi u wealis d i f f e r e r i t i a l wadieitt of tvo
slopcs.

Vertical view of quadruped


robot In transition area.

coordinate system xyz turns P' clockwise on y-axis t o


yet new coordinate system x'y'z'.Old coordinates of P1,
Pz,Ps a r e transformed i n t o new coordinates of P l , P Z , P s
with ( 10) In new coordinate system 2'
a x i s is
perpendicular.If O l is i n or out of APIPzPy,Projection
of t h e center of gravity of t h e robot O2 should be in o r
out of AP1'Pz1PS'
which is the projection of APIPzPs
on t h e f l a t floor.In AP1'Pz'Py' PI'. Pa', Ps' have the
same 2'-c0ordinate.h coordinate system x'y'z' pl' ,ep',
p3' have the same x'-coordinate and y'-coordinate a s PI,
PZ,Ps seperately,so method of c a l c u l a t i n g area of plane
t r i a n g l e can still be used i n t r a n s i t i o n area t o judge
the s t a b i l i t y of the robot supporting by three f e e t ,
while x'-coordinate and y'-coordinate of P I , Pz, PS a r e
used f o r calculating a r e a of plane t r i a n g l e . S t a b i l i t y
margin eth hod[^^ is used for s t a b i l i t y judgement. I f OZ
is i n APIJPz'Pa' and t h e rPininm distnnce from OZ t o
s i d e s of AP1'P2'Pa'
is bigger than s e t margin r t h e
robot is s t a b l e , otherwise t h e robot is unstable.The
margin r should be chosen big enough to compensate t h e
change of t h e center of gravity of t h e robot i n motion.
See reference (31 about s t a b i l i t y margin method i n
detail.

G. COBCLUSION

This paper and reference [I] have studied comprehensive


problems of quadruped robot walking up and down slope.
Solution of these problems l a y s a foundation f o r
experimental study of quadruped robot walkiny up and
dowii slope.llere up and down slope has broad s e n s e . I t not
only includes from l e v e l t o slope or vice versa but a l s o
includes from one slope t o another slope. Level is seen
as a slope which has gradient zero. So the study r e s u l t s
of the two papers a r e s u i t a b l e t o various environments
concerned with slope . But i n t h e papers some
assuwptions a r e taken: a. one assumption is t h a t surface
b.
another assumption is t h a t
of slope is f l a t :
d i r e c t i o n of walking is perpendicular t o i n t e r s e c t i o n
l i n e of surfaces of two slopes. I f surface of slope is
not f l a t formula (1) is unsuitable t o uleasure gradient
of t h e slope.
I f d i r e c t i o n of ualkiiiy is not perpendicular
to
iiitersection l i n e of surfaces of tvo slope g a i t in
trailsition area got from the papers is unsuitable
eitlrer.Kevcrtlieless. t h e two papers a r e still valuable.
To couplei case f u r t h e r study will be made 011 the b a s i s
of tile t v o papers.

5. HAXHUH STEP LENGTn OF QUADRUPED WALKING


.

ROBOT IN TRANSITION MEA

Step length of quadruped walking robot is concerned with


i n i t i a l positions of its four f e e t . According t o
reference [ l ] when quadruped robot walks on l e v e l and
periodical symmetry g a i t a r e used , optimum i n i t i a l
position i n X-direction of four f e e t is 0.6L ,maximum
s t e p i s 0.8L. L is motion space i n X-direction.
When quadruped robot walks on s l o p e
optimum
initial position i n X-direction of four f e e t is
(0.6-0.2Aj)L. AB is duty f a c t o r of AL. AB=AL/L,
AL is displacement of projection of t h e center of
gravity on s 1 o p e . h t h i s case Sm=0.8( 1- 2AB) L. Sm is
maximum s t e p length.cZ1
When quadruped robot walks i n t r a n s i t i o n a r e a from l e v e l
t o slope,because body of the robot t u r n t o p a r a l l e l
with sloping surface i n i t i a l positions i n X-direction of
its four f e e t a r e not symmetrical any more. The v e r t i c a l
view of the quadruped robot is shown in Fig.9. Footl and
Foot2 move backward AL. in X-direction.Foot3 aiid Footl
move backvard AL3 i n X-direction.The new X-coordinates
of four f e e t may be obtained from (IO).
X'= cosa~Xt s i n a - Z
(18)
ALz=

Xz

AL3=

Xs

- Xz'
- Xs'

= (l-coso).Xz - s i n a * Z o

REFERENCE
Junluin roil and Junshi Chens, "Study of aundruped
k'alking Robot Climbing and L'alking Doiin Slope"
rroc.of I n t . rorkshop on I n t e l l i g e n t Robots and
Systews'91 PP1513-PP153-l
I 2 1 Junmin Pan and Junslri Clieng, "Study of Quadruped
Robot Walkilly on Slope"
Robot RO.4
1991.
(111 Cliiiiese) PP22-PP26
131 Junslri Clreiig and Juiiluin Pan,"Study of Valkiny
Coiitrol Algorithm f o r Quadruped Robot" Journal of
Shanghai Jiao Tong Univ. NO.6 1991 (In Chinese)
r 1'33- PP I. .I
(11

(19)

= (I-cosa)-XY - sinuSZi
(20)
Tbe swing order of 4 l e s s is 4 -1 -13 +Z. According t o

536

'

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