Citation: | Gao Feng, Lei Jingtao, Xu Guoyanet al. Trot gait and energy consumption simulation of a quadruped robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(06): 719-722. (in Chinese) |
[1] Kurazume R, Byong-won A, Ohta K, et al. Experimental study on energy efficiency for quadruped walking vehicles IEEE/RSJ Intl.Conference on Intelligent Robots and Systems. Las Vegas,Nevada:IEEE Press,2003,1(1):613-618 [2] Silva M F,Machado J A T,Lopes A M.Performance analysis of multi-legged systems IEEE International Conference on Robotics and Automation.Washington DC:IEEE Press, 2002,3:2234-2239 [3] McGhee R B. Some finite state aspects of legged locomotion[J].Mathematical Biosciences,1968,2:67-84 [4] 蔡自兴.机器人学[M].北京:清华大学出版社,2000 Cai Zixing.Robotics[M].Beijing:Tsinghua University Press,2000(in Chinese) [5] Nikravesh P E, Pereira M S. Impact dynamics of multi-body systems with frictional contact using joint coordinates and canonical equations of motion[J]. Non-linear Dynamic ,1996,9:53-71 [6] Takemura H, Deguchi M, Ueda J, et al. Slip-adaptive walk of quadruped robot[J].Robotics and Autonomous Systems, 2005,53:124-141 [7] Takemura H, Ueda J, Matsumoto Y, et al.The influence of friction on gait and energy efficiency of the walking robot based on rhythmic control Proceedings of the 2nd International Symposium on Adaptive Motion of Animals and Machines.Kyoto:,2003 [8] Guihard M, Gorce P. A new controller adapted to constrained pneumatic multichain structures[J]. Automatica, 2000,36:1321-1327 [9] 倉爪,米田,広濑.4足歩行機械の3D揺動歩容[J].日本ロボット学会誌,2001,19(5):632-637
|