CN110281228B - Planning control method for humanoid robot to cross vertical barrier - Google Patents

Planning control method for humanoid robot to cross vertical barrier Download PDF

Info

Publication number
CN110281228B
CN110281228B CN201910571376.0A CN201910571376A CN110281228B CN 110281228 B CN110281228 B CN 110281228B CN 201910571376 A CN201910571376 A CN 201910571376A CN 110281228 B CN110281228 B CN 110281228B
Authority
CN
China
Prior art keywords
robot
humanoid robot
joint
speed
joints
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910571376.0A
Other languages
Chinese (zh)
Other versions
CN110281228A (en
Inventor
陈学超
廖文希
孟非
余张国
姜鑫洋
黄强
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Institute of Technology BIT
Original Assignee
Beijing Institute of Technology BIT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Institute of Technology BIT filed Critical Beijing Institute of Technology BIT
Priority to CN201910571376.0A priority Critical patent/CN110281228B/en
Publication of CN110281228A publication Critical patent/CN110281228A/en
Application granted granted Critical
Publication of CN110281228B publication Critical patent/CN110281228B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1628Programme controls characterised by the control loop
    • B25J9/1633Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members

Abstract

The invention discloses a planning control method for a humanoid robot to cross a vertical barrier, which comprises the steps of formulating a target object which the humanoid robot needs to cross; pre-planning the motion trail of the humanoid robot aiming at the target object; calculating the expected take-off speed of the humanoid robot according to the pre-planned motion trail; according to the expected take-off speed, respectively carrying out motor characteristic curve constraint, joint limit constraint and ground friction constraint on hip joints, knee joints and ankle joints of the humanoid robot to obtain the actual take-off speed, and further optimizing the motion trail in the take-off stage; in the soaring stage, the stability of the upper body of the humanoid robot is kept through the stable adjustment of the posture in the air; in the landing stage, landing impact is slowed down through stable adjustment of the landing posture, so that the whole task of crossing the vertical barrier is completed. According to the invention, by optimizing the joint force moment, a larger jumping distance is realized under the condition that no energy storage element exists, the larger jumping distance passes through the vertical barrier, and the stability of the humanoid robot is kept in the process.

Description

Planning control method for humanoid robot to cross vertical barrier
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a planning control method for a humanoid robot to cross a vertical barrier.
Background
Due to the specific biped moving mode of the humanoid robot, the humanoid robot has stronger moving capability in a complex environment compared with other robots such as a wheel type robot, a crawler type robot and the like. The humanoid robot has the advantages of being powerful in special environments such as dangerous environments, rescue and disaster relief. In the face of most of flat continuous road surface environments, the humanoid robot can adapt by crawling or walking and the like. However, when the humanoid robot encounters a discontinuous road surface, such as a complex and harsh terrain environment like a channel, a barrier, etc., it needs to be applied to a motion pattern similar to that of a human being, namely, forward jumping.
In the prior art, a kangaroo-simulated jumping robot is provided, and a ratchet device is adopted to control energy accumulation and release of a jumping mechanism to realize jumping operation, but other motion modes of walking, crawling and the like of the robot are not considered.
In addition, a small-sized humanoid robot which can generate a jumping track by using a CPG method to perform vertical jumping is also provided. However, the robot is small in size, and when the method is applied to a large robot, the method may not be applicable due to insufficient driving force. A method for vertical jumping of a humanoid robot. However, the robot can only jump vertically upwards and cannot cross a vertical barrier. And the paper does not consider the constraint of motor torque in practical application. A humanoid robot simulating leg movement by using a compression spring can realize jumping through pelvic cavity movement and joint elastic resonance.
In summary, the conventional humanoid robot mostly depends on the elastic energy storage element to realize the jumping function, and the addition of the elastic energy storage element to the leg of the humanoid robot tends to easily affect the realization of other motion modes of the robot, such as walking and crawling, and lead to the simplification of the motion mode of the robot.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a planning control method for a humanoid robot to cross a vertical barrier, which realizes a larger jumping distance and cross the vertical barrier without an energy storage element by optimizing joint force moment, and keeps the stability of the humanoid robot in the process.
The technical purpose of the invention is realized by the following technical scheme:
a planning control method for a humanoid robot to cross a vertical barrier comprises the following steps:
step 1, formulating a target object which needs to be crossed by the humanoid robot; pre-planning the motion trail of the humanoid robot aiming at the target object;
step 2, calculating the expected take-off speed of the humanoid robot according to the pre-planned motion trail;
step 3, respectively carrying out motor characteristic curve constraint, joint limit constraint and ground friction constraint on hip joints, knee joints and ankle joints of the humanoid robot according to the expected take-off speed, so as to obtain the actual take-off speed and further optimize the motion trail in the take-off stage;
step 4, keeping the upper body stability of the humanoid robot through the aerial posture stability adjustment in the soaring stage;
and 5, in the landing stage, the landing impact is relieved by stably adjusting the landing posture, so that the whole task of crossing the vertical barrier is completed.
Further, the method for adjusting the aerial attitude stability comprises the following steps:
the ankle joint of the robot is adjusted, so that the sole of the robot is always kept parallel to the ground, and preparation is made for landing of the robot; and setting a height threshold value of the robot and the ground, and when the height of the robot in the descending stage reaches the threshold value, reducing the speed of the robot sole relative to the ground by adjusting the hip joint and the knee joint to change the speed of the robot center of mass relative to the robot sole, so that the speed tends to 0, and the landing impact of the robot is reduced.
Further, the method for stably adjusting the landing posture comprises the following steps:
respectively carrying out motor characteristic curve constraint, joint limit constraint and ground friction constraint on hip joints, knee joints and ankle joints of the humanoid robot, so that the initial positions of the joints are recovered when the speeds of the joints tend to 0, namely the robot recovers the initial standing posture;
further, the motor torque characteristic curve constraint is as follows:
Figure BDA0002110992540000021
wherein, taujointRepresenting joint moment, τpeakIs the turning point moment of the motor,
Figure BDA0002110992540000022
in order to determine the angular velocity of the joint,
Figure BDA0002110992540000023
the angular velocity of the joint at the turning point, i is the motor reduction ratio, omegamaxAt the maximum motor speed, ωbreakThe rotating speed of the motor at the turning point,
Figure BDA0002110992540000024
maximum joint angular velocity; the specific calculation is as follows:
Figure BDA0002110992540000025
further, the joint limit constraint is as follows:
-90°<q1<0;
0<q2<180°;
-180°<q3<0;
wherein q is1,q2,q3Respectively representing the angles of an ankle joint, a knee joint and a hip joint of the humanoid robot;
further, the ground friction constraint is: ensuring the ground acting force F borne by the humanoid robotRThe included angle with the vertical direction must be smaller than the friction angle
Figure BDA0002110992540000026
The sole of the robot is prevented from moving relative to the ground;
the invention has the beneficial effects that:
under the condition of not adopting an elastic energy storage element, the takeoff track and the landing track of the robot are optimized by combining a motor torque-rotating speed characteristic curve, and the joint of the robot can be guaranteed to efficiently and stably reach the expected position and speed. Meanwhile, in the air stage of the robot, the posture of the robot is stable and the landing is smooth and soft by adjusting joints of the whole body. The efficient, stable and complete forward jump of the robot is realized, and meanwhile, no elastic element is added to influence the normal operation of other motion modes of the robot, such as walking, crawling and the like.
Drawings
FIG. 1 is a schematic view of a humanoid robot structure;
FIG. 2 is a graph of motor characteristics;
FIG. 3 is a schematic view of a stage of the process of the entire jump of the humanoid robot;
FIG. 4 is a graph of ground friction constraints for a landing of the present invention;
FIG. 5 is a control flow diagram of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The humanoid robot comprises a trunk, thighs and calves which are respectively connected by hip joints, knee joints and ankle joints. Because the body is symmetrical all the time during jumping, the humanoid robot is simplified from a three-dimensional space structure to a two-dimensional sagittal plane, as shown in fig. 1.
As shown in fig. 3 and 5, the invention relates to a planning control method for a humanoid robot to cross a vertical barrier, which comprises the following steps:
step 1, formulating a target object which needs to be crossed by the humanoid robot; and (3) pre-planning the motion trail of the humanoid robot aiming at the target object, namely planning the distance which the humanoid robot needs to cross and the maximum height which the humanoid robot reaches according to the width and the height of the vertical barrier.
Step 2, calculating the expected take-off speed v of the humanoid robot according to the pre-planned motion trailjump,d=(vx,d,vy,d);
Step 3, taking off the jump speed vjump,d=(vx,d,vy,d) In order to optimize the target, the hip joint, the knee joint and the ankle joint of the humanoid robot are respectively subjected to motor characteristic curve constraint, joint limit constraint and ground friction constraint,thereby obtaining the actual take-off speed vjump,r=(vx,r,vy,r) And will actually take-off speed vjump,r=(vx,r,vy,r) With desired speed vjump,d, establishing a cost function by taking the difference value as an optimization target, and optimizing the pre-planned motion trajectory of the humanoid robot through the cost function; the constructed cost function is expressed as:
min J=|vx,r-vx,d|+|vy,r-vy,d| (1)
where J is the cost function, vx,rIs the horizontal component of the actual take-off speed, vx,dTo the horizontal component of the desired take-off speed, vy,rIs the vertical component of the actual take-off speed, vy,dThe vertical component of the desired takeoff speed.
And 4, when the humanoid robot enters the emptying stage shown in the figure 3, stably adjusting the aerial posture of the robot. The ankle joint of the robot is under-actuated in the emptying stage, so that the sole of the robot is always kept parallel to the ground by adjusting the ankle joint of the robot, and the robot is prepared for landing; secondly, a height threshold value of the robot and the ground is set, once the height threshold value is reached in a falling stage, namely when the robot is about to fall to the ground, the speed of the center of mass of the robot relative to the sole is changed by adjusting the hip joint and the knee joint, so that the speed of the sole of the robot relative to the ground is reduced and tends to 0, the falling impact of the robot is reduced, and the upper body stability of the humanoid robot in an emptying stage is further maintained.
And 5, when the robot enters a landing stage, stably adjusting the landing posture of the robot. And respectively carrying out motor characteristic curve constraint, joint limit constraint and ground friction constraint on hip joints, knee joints and ankle joints of the humanoid robot, so that the initial positions of the joints are recovered when the speed of each joint approaches 0, namely the robot recovers the initial standing posture, and the whole task of crossing the vertical barrier is completed.
In the invention, the hip joint, the knee joint and the ankle joint of the humanoid robot at the take-off stage in the step 3 and the landing stage in the step 5 are all restricted by adopting the motor characteristic curves, the restriction of the motor characteristic curves is shown in figure 2, and the specific relation is expressed as follows:
Figure BDA0002110992540000041
wherein, taujointRepresenting joint moment, τpeakIs the turning point moment of the motor,
Figure BDA0002110992540000042
in order to determine the angular velocity of the joint,
Figure BDA0002110992540000043
the angular velocity of the joint at the turning point, i is the motor reduction ratio, omegamaxAt the maximum motor speed, ωbreakThe rotating speed of the motor at the turning point,
Figure BDA0002110992540000044
maximum joint angular velocity; the specific calculation is as follows:
Figure BDA0002110992540000045
the joint limit constraint is as follows:
-90°<q1<0;
0<q2<180°;
-180°<q3<0; (3)
wherein (q)1,q2,q3) Respectively representing the angles of the ankle joint, the knee joint and the hip joint of the humanoid robot.
The ground friction force constraint is as shown in figure 4, and the humanoid robot is subjected to the ground acting force F in the take-off stage and the landing stage of the jumping motionRCan be decomposed into vertical supporting force FNAnd the frictional force F of the ground theretof. Wherein Ff,maxIndicating the maximum static friction that the ground can provide,
Figure BDA0002110992540000051
the friction angle is expressed, and in order to prevent the relative movement between the sole of the foot and the ground, the included angle between the acting force of the ground and the vertical direction applied to the robot is smaller than the friction angle
Figure BDA0002110992540000052
In conclusion, the technical scheme adopted by the invention realizes a larger jump height under the condition of no energy storage element and a method for crossing the vertical barrier, can improve the adaptability of the robot to discontinuous road surfaces and increase the application occasions of the humanoid robot under the condition of not influencing other motion modes of the robot.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.

Claims (5)

1. A planning control method for a humanoid robot to cross a vertical barrier is characterized by comprising the following steps:
step 1, formulating a target object which needs to be crossed by the humanoid robot; pre-planning the motion trail of the humanoid robot aiming at the target object;
step 2, calculating the expected take-off speed of the humanoid robot according to the pre-planned motion trail;
step 3, respectively carrying out motor characteristic curve constraint, joint limit constraint and ground friction constraint on hip joints, knee joints and ankle joints of the humanoid robot according to the expected take-off speed, so as to obtain the actual take-off speed and further optimize the motion trail in the take-off stage;
step 4, keeping the upper body stability of the humanoid robot through the aerial posture stability adjustment in the soaring stage; the method for stably adjusting the air attitude comprises the following steps: the ankle joint of the robot is adjusted, so that the sole of the robot is always kept parallel to the ground, and preparation is made for landing of the robot; setting a height threshold value of the robot and the ground, and when the height of the robot in a descending stage reaches the threshold value, reducing the speed of the robot sole relative to the ground by adjusting the hip joint and the knee joint to change the speed of the robot center of mass relative to the robot sole, so that the speed tends to 0, and the landing impact of the robot is reduced;
and 5, in the landing stage, the landing impact is relieved by stably adjusting the landing posture, so that the whole task of crossing the vertical barrier is completed.
2. The method for controlling the planning of the humanoid robot for crossing the vertical barrier as claimed in claim 1, wherein the stable adjustment method of the landing posture is as follows:
and respectively carrying out motor characteristic curve constraint, joint limit constraint and ground friction constraint on hip joints, knee joints and ankle joints of the humanoid robot, so that the initial positions of the joints are recovered when the speeds of the joints tend to 0, namely the robot recovers the initial standing posture.
3. A method for planning and controlling a humanoid robot to negotiate a vertical barrier as claimed in claim 1 or 2, characterized in that the motor characteristic curve is constrained to:
Figure FDA0002551812850000011
wherein, taujointRepresenting joint moment, τpeakIs the turning point moment of the motor,
Figure FDA0002551812850000012
in order to determine the angular velocity of the joint,
Figure FDA0002551812850000013
the angular velocity of the joint at the turning point, i is the motor reduction ratio, omegamaxAt the maximum motor speed, ωbreakThe rotating speed of the motor at the turning point,
Figure FDA0002551812850000014
the maximum joint angular velocity.
4. A planning control method for a humanoid robot to negotiate a vertical barrier as claimed in claim 1 or 2, wherein the joint limit constraints are:
-90°<q1<0;
0<q2<180°;
-180°<q3<0;
wherein q is1,q2,q3Respectively representing the angles of the ankle joint, the knee joint and the hip joint of the humanoid robot.
5. A method for planning control of a humanoid robot to negotiate a vertical barrier as claimed in claim 1 or 2, characterized in that the ground friction constraints are: ensuring the ground acting force F borne by the humanoid robotRThe included angle with the vertical direction must be smaller than the friction angle
Figure FDA0002551812850000021
So that the sole of the robot does not move relative to the ground.
CN201910571376.0A 2019-06-28 2019-06-28 Planning control method for humanoid robot to cross vertical barrier Active CN110281228B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910571376.0A CN110281228B (en) 2019-06-28 2019-06-28 Planning control method for humanoid robot to cross vertical barrier

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910571376.0A CN110281228B (en) 2019-06-28 2019-06-28 Planning control method for humanoid robot to cross vertical barrier

Publications (2)

Publication Number Publication Date
CN110281228A CN110281228A (en) 2019-09-27
CN110281228B true CN110281228B (en) 2020-10-09

Family

ID=68019443

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910571376.0A Active CN110281228B (en) 2019-06-28 2019-06-28 Planning control method for humanoid robot to cross vertical barrier

Country Status (1)

Country Link
CN (1) CN110281228B (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113156926A (en) * 2020-01-22 2021-07-23 深圳市优必选科技股份有限公司 Finite state machine establishing method of robot, finite state machine and robot
CN111288115B (en) * 2020-01-22 2021-09-17 深圳市优必选科技股份有限公司 Buffer device and buffer control method
CN112223309B (en) * 2020-09-30 2024-01-12 腾讯科技(深圳)有限公司 Controller, control method and robot
CN112847371B (en) * 2021-01-11 2023-02-24 常州工程职业技术学院 Motion planning method for humanoid robot to dynamically cross continuous obstacles
CN113081582B (en) * 2021-03-18 2022-06-28 上海交通大学 Robot-assisted standing track generation method
CN113126659B (en) * 2021-04-06 2022-04-08 北京理工大学 System and method for detecting jumping and landing state of humanoid robot
CN113753146B (en) * 2021-05-31 2023-11-14 腾讯科技(深圳)有限公司 Method for controlling robot to perform idle turning movement and robot

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101850794A (en) * 2010-05-28 2010-10-06 北京工业大学 Frog jump robot
FR2947236B1 (en) * 2009-06-30 2011-07-15 Aldebaran Robotics METHOD FOR CONTROLLING THE MARKET OF A MOBILE ROBOT AND ROBOT USING THE METHOD
JP5468974B2 (en) * 2010-04-22 2014-04-09 本田技研工業株式会社 Biped mobile robot controller and gait generator
US8849451B2 (en) * 2011-04-11 2014-09-30 Boston Dynamics, Inc. Hopping robot
CN104943760A (en) * 2015-05-21 2015-09-30 东南大学 Movement posture adjusting device for hopping robots
CN105599816A (en) * 2015-10-20 2016-05-25 浙江大学 Gait planning method of 3D (3 dimensional) underactuated biped robot jumping motion
CN108860360A (en) * 2018-08-01 2018-11-23 清华大学深圳研究生院 A kind of system of quadruped robot obstacle jump

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2947236B1 (en) * 2009-06-30 2011-07-15 Aldebaran Robotics METHOD FOR CONTROLLING THE MARKET OF A MOBILE ROBOT AND ROBOT USING THE METHOD
JP5468974B2 (en) * 2010-04-22 2014-04-09 本田技研工業株式会社 Biped mobile robot controller and gait generator
CN101850794A (en) * 2010-05-28 2010-10-06 北京工业大学 Frog jump robot
US8849451B2 (en) * 2011-04-11 2014-09-30 Boston Dynamics, Inc. Hopping robot
CN104943760A (en) * 2015-05-21 2015-09-30 东南大学 Movement posture adjusting device for hopping robots
CN105599816A (en) * 2015-10-20 2016-05-25 浙江大学 Gait planning method of 3D (3 dimensional) underactuated biped robot jumping motion
CN108860360A (en) * 2018-08-01 2018-11-23 清华大学深圳研究生院 A kind of system of quadruped robot obstacle jump

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
欠驱动跳跃机器人的运动轨迹规划及试验研究;刘载淳;《中国优秀硕士学位论文全文数据库》;20130630(第6期);第23-44页 *

Also Published As

Publication number Publication date
CN110281228A (en) 2019-09-27

Similar Documents

Publication Publication Date Title
CN110281228B (en) Planning control method for humanoid robot to cross vertical barrier
US10126757B2 (en) Single track legged vehicle
Hodgins et al. Adjusting step length for rough terrain locomotion
Park et al. Variable-speed quadrupedal bounding using impulse planning: Untethered high-speed 3d running of mit cheetah 2
CN108163080B (en) Electrically driven quadruped robot capable of adapting to high load capacity of complex rugged terrain
CN110262510B (en) Humanoid robot centroid trajectory planning method capable of reducing walking energy consumption
Cho et al. Controllers for running in the humanoid robot, HUBO
CN110405769B (en) Heuristic humanoid robot tumble protection method
CN108860360A (en) A kind of system of quadruped robot obstacle jump
CN109807901A (en) A kind of hexapod robot and its planing method of sufficient end track
Nakajima Evaluation of the mobility performance of a personal mobility vehicle for steps
CN110919656B (en) SLIP-based parallel leg and foot robot motion control method and system
CN104108433A (en) Compliant control method of wheel foot type robot
Kim et al. Approach of team snu to the darpa robotics challenge finals
JP2005153038A (en) Leg type mobile robot and foot part structure for leg type mobile robot
Fujiwara et al. Safe knee landing of a human-size humanoid robot while falling forward
Chen et al. Roller-skating of mammalian quadrupedal robot with passive wheels inspired by human
Xie et al. A review: Robust locomotion for biped humanoid robots
Haruna et al. Yet another humanoid walking-passive dynamic walking with torso under simple control
CN110181541A (en) A kind of biped Pao Tiao robot rotating direction control method
Xu et al. Obstacle-negotiation performance on challenging terrain for a parallel leg-wheeled robot
Pan et al. Design of a hopping robot with its kinetics and dynamics analysis
Cherouvim et al. Control of hopping speed and height over unknown rough terrain using a single actuator
Talebi et al. Towards dynamic step climbing for a quadruped robot with compliant legs
Kim et al. Ellipse-based leg-trajectory generation for galloping quadruped robots

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant