報告時間：2014年12月24日，13：30
報告人：石愛菊 副教授
報告人單位：理學院
報告地點：仙林校區教2-501室
報告題目：Study on the motion coordination of Gecko
報告摘要： Motion coordination is one of the important technologies that affect the stability and efficiency of a robot. Animals preserve the advantages in locomotion after long time’s evolution, which offers good prototypes for the motion control of robot. In this talk, the locomotion of the quadruped animal, gecko, is observed when trotting on the level. The trajectories of feet relative to the hips are analyzed. Specifically, we use regression model to fit the inter-limbs coordination of diagonal feet on stance stage, and select different smooth function to model the inner-limbs coordination on swing stage. We find that on stance phase, the feet have the same speed relative to the hips, and feet accomplish the change of moving direction and speed during transition process between stance and swing phase. These results are simulated in a robot mode and used in laboratory to plan the foot trajectory of a quadruped sprawling robot.
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