Gait Generation For A Quadruped Robot Using Kalman Filter As Optimizer

dc.creatorSouto R.F.
dc.creatorBorges G.A.
dc.creatorRomariz A.R.S.
dc.date2009
dc.date2015-06-26T13:34:52Z
dc.date2015-11-26T15:33:38Z
dc.date2015-06-26T13:34:52Z
dc.date2015-11-26T15:33:38Z
dc.date.accessioned2018-03-28T22:42:12Z
dc.date.available2018-03-28T22:42:12Z
dc.identifier9781424438044
dc.identifier2009 Ieee/rsj International Conference On Intelligent Robots And Systems, Iros 2009. , v. , n. , p. 1037 - 1042, 2009.
dc.identifier
dc.identifier10.1109/IROS.2009.5354195
dc.identifierhttp://www.scopus.com/inward/record.url?eid=2-s2.0-76249087373&partnerID=40&md5=9a2279631755bfd9b62a8bd54f222d10
dc.identifierhttp://www.repositorio.unicamp.br/handle/REPOSIP/92089
dc.identifierhttp://repositorio.unicamp.br/jspui/handle/REPOSIP/92089
dc.identifier2-s2.0-76249087373
dc.identifier.urihttp://repositorioslatinoamericanos.uchile.cl/handle/2250/1262795
dc.descriptionIn this paper, the kinematic model of a quadruped robot is derived. The model is equivalent to that of a parallel manipulator, in that each leg can be seen as a manipulator. However, the model is extended to consider that in one gait cycle some legs are in contact with the ground and others are not. In order to obtain the inverse kinematics model, this paper presents as contribution the use of the extended Kalman filter as optimizer in two different situations of the leg motion: unconstrained case, for the swing leg(s), and constrained case, for the leg(s) in contact with the ground. This method was evaluated for locomotion in plain and inclined surfaces. The results obtained with the kinematics model were satisfactory when implemented in a point-to-point trajectory in simulation, and also in an experiment with a four-legged platform with three degrees of freedom in each leg. © 2009 IEEE.
dc.description
dc.description
dc.description1037
dc.description1042
dc.descriptionIEEE Robotics and Automation Society, IEEE,Robotics Society of Japan, RSJ,Society of Instrument and Control Engineers, SICE,IEEE Industrial Electronics Society, IES,Institute of Control, Robotics and Systems in Korea, ICROS
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dc.languageen
dc.publisher
dc.relation2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
dc.rightsfechado
dc.sourceScopus
dc.titleGait Generation For A Quadruped Robot Using Kalman Filter As Optimizer
dc.typeActas de congresos


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