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TECHNICAL PAPERS

Path Tracking Based on Closed-Loop Control for a Quadruped Robot in a Cluttered Environment

[+] Author and Article Information
Xuedong Chen

Faculty of Engineering Systems and Technology, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, Saga 840-8502, Japan

Keigo Watanabe, Kazuo Kiguchi

Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, Saga 840-8502, Japan

Kiyotaka Izumi

Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, 1-Honjomachi, Saga 840-8502, Japan

J. Dyn. Sys., Meas., Control 124(2), 272-280 (May 10, 2002) (9 pages) doi:10.1115/1.1472460 History: Received June 05, 2000; Online May 10, 2002
Copyright © 2002 by ASME
Topics: Robots
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References

Figures

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Block diagram of the path tracking control system
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Experimental terrain and result
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Photographs of the real crawl status
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Robot localization of TITAN-VIII in the world reference frame
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Projection of the quadruped robot in its supporting surface
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Prototypical foot trajectory of the swing leg
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Schematic drawing of a generalized gait cycle of TITAN-VIII
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The mechanism of selecting the next turning-point
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Path planning of the robot in an obstacle-strewn environment
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Schematic drawing of leg mechanism of TITAN-VIII
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Schematic drawing of the quadruped robot TITAN-VIII

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