Development of quadruped walking locomotion gait generator using a hybrid method

The earth, in many areas is hardly reachable by the wheeled or tracked locomotion system. Thus, walking locomotion system is becoming a favourite option for mobile robot these days. This is because of the ability of walking locomotion to move on the rugged and unlevel terrains. However, to develop a...

Full description

Bibliographic Details
Main Authors:	Jasni, Farahiyah, Shafie, Amir Akramin
Format:	Article
Language:	English
Published:	IOP Publishing 2013
Subjects:	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Online Access:	http://irep.iium.edu.my/36117/ http://irep.iium.edu.my/36117/ http://irep.iium.edu.my/36117/ http://irep.iium.edu.my/36117/1/jasni.pdf

id	iium-36117
recordtype	eprints
spelling	iium-361172014-04-16T06:05:49Z http://irep.iium.edu.my/36117/ Development of quadruped walking locomotion gait generator using a hybrid method Jasni, Farahiyah Shafie, Amir Akramin TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) The earth, in many areas is hardly reachable by the wheeled or tracked locomotion system. Thus, walking locomotion system is becoming a favourite option for mobile robot these days. This is because of the ability of walking locomotion to move on the rugged and unlevel terrains. However, to develop a walking locomotion gait for a robot is not a simple task. Central Pattern Generator (CPGs) method is a biological inspired method that is introduced as a method to develop the gait for the walking robot recently to tackle the issue faced by the conventional method of pre-designed trajectory based method. However, research shows that even the CPG method do have some limitations. Thus, in this paper, a hybrid method that combines CPG and the pre-designed trajectory based method is introduced to develop a walking gait for quadruped walking robot. The 3-D foot trajectories and the joint angle trajectories developed using the proposed method are compared with the data obtained via the conventional method of pre-designed trajectory to confirm the performance. IOP Publishing 2013 Article PeerReviewed application/pdf en http://irep.iium.edu.my/36117/1/jasni.pdf Jasni, Farahiyah and Shafie, Amir Akramin (2013) Development of quadruped walking locomotion gait generator using a hybrid method. IOP Conference Series: Materials Science and Engineering, 53 (1). 012082-1. ISSN 1757-8981 http://iopscience.iop.org/1757-899X/53/1/012082 10.1088/1757-899X/53/1/012082
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
spellingShingle	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) Jasni, Farahiyah Shafie, Amir Akramin Development of quadruped walking locomotion gait generator using a hybrid method
description	The earth, in many areas is hardly reachable by the wheeled or tracked locomotion system. Thus, walking locomotion system is becoming a favourite option for mobile robot these days. This is because of the ability of walking locomotion to move on the rugged and unlevel terrains. However, to develop a walking locomotion gait for a robot is not a simple task. Central Pattern Generator (CPGs) method is a biological inspired method that is introduced as a method to develop the gait for the walking robot recently to tackle the issue faced by the conventional method of pre-designed trajectory based method. However, research shows that even the CPG method do have some limitations. Thus, in this paper, a hybrid method that combines CPG and the pre-designed trajectory based method is introduced to develop a walking gait for quadruped walking robot. The 3-D foot trajectories and the joint angle trajectories developed using the proposed method are compared with the data obtained via the conventional method of pre-designed trajectory to confirm the performance.
format	Article
author	Jasni, Farahiyah Shafie, Amir Akramin
author_facet	Jasni, Farahiyah Shafie, Amir Akramin
author_sort	Jasni, Farahiyah
title	Development of quadruped walking locomotion gait generator using a hybrid method
title_short	Development of quadruped walking locomotion gait generator using a hybrid method
title_full	Development of quadruped walking locomotion gait generator using a hybrid method
title_fullStr	Development of quadruped walking locomotion gait generator using a hybrid method
title_full_unstemmed	Development of quadruped walking locomotion gait generator using a hybrid method
title_sort	development of quadruped walking locomotion gait generator using a hybrid method
publisher	IOP Publishing
publishDate	2013
url	http://irep.iium.edu.my/36117/ http://irep.iium.edu.my/36117/ http://irep.iium.edu.my/36117/ http://irep.iium.edu.my/36117/1/jasni.pdf
first_indexed	2023-09-18T20:51:43Z
last_indexed	2023-09-18T20:51:43Z
_version_	1777410038204203008

Development of quadruped walking locomotion gait generator using a hybrid method

Similar Items