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...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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IOP Publishing
2013
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| Online Access: | http://irep.iium.edu.my/36117/ http://irep.iium.edu.my/36117/1/jasni.pdf |
| _version_ | 1848781165700317184 |
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| author | Jasni, Farahiyah Shafie, Amir Akramin |
| author_facet | Jasni, Farahiyah Shafie, Amir Akramin |
| author_sort | Jasni, Farahiyah |
| building | IIUM Repository |
| collection | Online Access |
| 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. |
| first_indexed | 2025-11-14T15:45:14Z |
| format | Article |
| id | iium-36117 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T15:45:14Z |
| publishDate | 2013 |
| publisher | IOP Publishing |
| recordtype | eprints |
| repository_type | Digital Repository |
| 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 |
| 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 |
| title | 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_short | Development of quadruped walking locomotion gait generator using a hybrid method |
| title_sort | development of quadruped walking locomotion gait generator using a hybrid method |
| topic | TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) |
| 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 |