Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
CPG-based online trajectory generation for quadruped rovers
Space Mechatronics Group, Institute for Aerospace Studies, University of Toronto.
Space Mechatronics Group, Institute for Aerospace Studies, University of Toronto.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Space Technology.
Number of Authors: 3
2016 (English)In: 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO): Zhuhai, 6-9 Dec. 2015, Piscataway, NJ: IEEE Communications Society, 2016, 1053-1058 p., 7418911Conference paper, Published paper (Refereed)
Abstract [en]

Legged rovers are often considered as viable solutions for traversing unknown terrain. A 2D sagittal plane rover model, based on a domestic cat, is considered in this paper, and an online model-free gait planning framework is implemented using Central Pattern Generators. The framework is used to generate joint trajectories for any arbitrarily varying speed profile, and regulate locomotion transition and speed modulation, both continuously and endogenously. For a continuously changing speed profile, the gait transition is continuous as well. For a discontinuously changing speed profile, a hopping motion is observed, because the rover's thrust speed cannot increase discontinuously

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2016. 1053-1058 p., 7418911
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Onboard space systems
Identifiers
URN: urn:nbn:se:ltu:diva-38791DOI: 10.1109/ROBIO.2015.7418911ISI: 000380476200178Local ID: d4b0a051-5f39-47d6-8f72-0930e2382093ISBN: 9781467396745 (electronic)OAI: oai:DiVA.org:ltu-38791DiVA: diva2:1012292
Conference
International Conference on Robotics and Biomimetics : 06/12/2015 - 09/12/2015
Note

Validerad; 2016; Nivå 1; 2016-10-11 (andbra)

Available from: 2016-10-03 Created: 2016-10-03 Last updated: 2017-10-19Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full text

Search in DiVA

By author/editor
Emami, Reza
By organisation
Space Technology
Other Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 5 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf