Gait planning based on kinematics for a quadruped gecko model with redundancy |
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| Authors: | Donghoon Son Dongsu Jeon Woo Chul Nam Doyoung Chang TaeWon Seo Jongwon Kim |
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| Affiliation: | 1. Seoul National University, School of Mechanical and Aerospace Engineering, Seoul, Republic of Korea;2. Carnegie Mellon University, Department of Mechanical Engineering, PA, USA;1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, P. R. China;2. Institute of Intelligent Systems and Information Technology, University of Electronic Science and Technology of China, Chengdu 610000, P.R. China;3. Department of Electrical and Computer Engineering, the National University of Singapore, Singapore 117576, Singapore;1. Robotics Institute, Beihang University, Beijing 100191, China;2. CRRC Qingdao Sifang Co., Ltd., Qingdao 266111, China;1. Intelligent Robotics and Mechatronic Systems Lab, School of Mechanical Engineering, Sungkyunkwan University, Suwon, Republic of Korea;2. Division of Applied Robot Technology, Korea Institute of Industrial Technology, Ansan, Republic of Korea |
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| Abstract: | Recent research on mobile robots has focused on locomotion in various environments. In this paper, a gait-generation algorithm for a mobile robot that can travel from the ground to a wall and climb vertical surfaces is proposed. The algorithm was inspired by a gecko lizard. Our gait planning was based on inverse kinematics using the Jacobian of the whole body, where the redundancy was solved by defining an object function for the gecko posture to avoid collisions with the surface. The optimal scalar factor for these two objects was obtained by defining a superior object function to minimize the angular acceleration of joints. The algorithm was verified through simulation of the gecko model travelling on given task paths and avoiding abnormal joint movements and collisions. |
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