Kinematics-based gait planning of a quadruped gecko-like model

Doyoung Chang, Donghun Son, Tae Won Seo, Woochul Nam, Dongsu Jeon, Jongwon Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

Recent research on mobile robots is focused on locomotion in various environments. In this paper gait generation algorithm for a mobile robot that can locomote from ground to wall and climb vertical surfaces is proposed bio-inspired by a gecko lizard. The gait planning is based on the inverse-kinematics with the Jacobian of whole body, where the redundancy is solved by defining an object function to follow the real gecko posture and avoid collisions with the surface. The optimal scalar factor for these two objects is obtained by defining a superior object function that is to minimize the angular acceleration. The algorithm was verified through simulation of the gecko model locomoting given task paths avoiding abnormal joint movements and collisions.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages233-238
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 1
Event2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China
Duration: 2009 Dec 192009 Dec 23

Publication series

Name2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Other

Other2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
CountryChina
CityGuilin
Period09/12/1909/12/23

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Chang, D., Son, D., Seo, T. W., Nam, W., Jeon, D., & Kim, J. (2009). Kinematics-based gait planning of a quadruped gecko-like model. In 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 (pp. 233-238). [5420628] (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009). https://doi.org/10.1109/ROBIO.2009.5420628