@inproceedings{84d33e02617c4ff0a4725234e072d9d0,
title = "A Smooth Gait Planning Framework for Quadruped Robot Based on Virtual Model Control",
abstract = "The smooth gait of robot plays an essential role in the locomotion, which influences by constraint from ground. Most of the planning algorithms centered on the characteristics of periodicity and amplitude of joint angles, and lost sight of the continuity of displacement and velocity of food trajectories. In this paper, the rhythmicity of robot body was studied in linear motion, according of which the smooth gait constrained by boundary conditions was planned by Hermite interpolation. In order to ensure the stability of robot posture during the movement, the strategy of virtual model control (VMC) was introduced and PD control method was used to track joint angles. The results and feasibility were verified by dynamics simulations finally.",
keywords = "Planning framework, Quadruped robot, Smooth gait, Virtual model control",
author = "Jian Tian and Chao Ma and Cheng Wei and Yang Zhao",
note = "Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.; 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019 ; Conference date: 08-08-2019 Through 11-08-2019",
year = "2019",
doi = "10.1007/978-3-030-27538-9\_34",
language = "英语",
isbn = "9783030275372",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "398--410",
editor = "Haibin Yu and Jinguo Liu and Lianqing Liu and Yuwang Liu and Zhaojie Ju and Dalin Zhou",
booktitle = "Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings",
address = "德国",
}