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J International Conference on Intelligent Robots and Systems Yokohama,Japan July 26-30.1993
Junslii Cheng
ABSTBACT
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4"
Authorized licensed use limited to: Khajeh Nasir Toosi University of Technology. Downloaded on December 21, 2009 at 05:53 from IEEE Xplore. Restrictions apply.
a=tan-l
lAhl
-
(1)
?\
*4
?.
'<
jz,
/-
'
533
Cz2.Probabi1ity of event C,
is as follows:
(5)
:J2
P(cll)=
f(Xl)[l-F(2Xi)ldXi
1
r -
/I
534
Fig.4.
\\ -'
Robot walking on
rough terrain.
Z3
From (10)
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)
3.2
I-I
'
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)
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.
G. COBCLUSION
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
'