Time optimal positioning control of a quadruped robot for trot gait
A design method of time-optimal trajectory of quadruped robots from an initial position to a target position is developed for trot gait. The designed trajectory consists of three phases, acceleration phase, steady walk phase and deceleration phase. The time-optimal trajectory is designed in each pha...
| Published in: | Nihon Kikai Gakkai ronbunshu |
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| Main Authors: | , |
| Format: | Article |
| Language: | Japanese |
| Published: |
The Japan Society of Mechanical Engineers
2017-04-01
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| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/83/849/83_17-00017/_pdf/-char/en |