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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 tekniska universitet, Institutionen för system- och rymdteknik, Rymdteknik.
Rekke forfattare: 3
2016 (engelsk)Inngår i: 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO): Zhuhai, 6-9 Dec. 2015, Piscataway, NJ: IEEE Communications Society, 2016, 1053-1058 s., 7418911Konferansepaper, Publicerat paper (Fagfellevurdert)
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

sted, utgiver, år, opplag, sider
Piscataway, NJ: IEEE Communications Society, 2016. 1053-1058 s., 7418911
HSV kategori
Forskningsprogram
Rymdtekniska system
Identifikatorer
URN: urn:nbn:se:ltu:diva-38791DOI: 10.1109/ROBIO.2015.7418911ISI: 000380476200178Lokal ID: d4b0a051-5f39-47d6-8f72-0930e2382093ISBN: 9781467396745 (digital)OAI: oai:DiVA.org:ltu-38791DiVA: diva2:1012292
Konferanse
International Conference on Robotics and Biomimetics : 06/12/2015 - 09/12/2015
Merknad

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

Tilgjengelig fra: 2016-10-03 Laget: 2016-10-03 Sist oppdatert: 2017-10-19bibliografisk kontrollert

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