Abstract
The quadruped/biped reconfigurable walking robot with parallel leg mechanism can realize not only the quadruped walking, but also the biped walking. The converting process from the quadruped to the biped includes locking the vertical revolute pair hinged with the upper platform and combining the corresponding lower platforms. Based on the previous study, the combining schemes of walking chair are researched in this paper, and then the correctness of the combining schemes is analyzed by using the position workspace of the swing leg and the body mechanism in different states which are obtained by the MATLAB software and anti-solution search method. Compared with the stability margin and the adjustment coordination of the body in the different combining schemes, the optimal combining gaits of walking chair are selected, which lays the theoretical foundation for the quadruped/biped converting control of walking chair.
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Hu, X., Wang, H., Sang, L., Gu, Q., Yuan, L. (2012). Combining Gait Research of the Quadruped/Biped Reconfigurable Walking Chair with Parallel Leg Mechanism. In: Ge, S.S., Khatib, O., Cabibihan, JJ., Simmons, R., Williams, MA. (eds) Social Robotics. ICSR 2012. Lecture Notes in Computer Science(), vol 7621. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34103-8_57
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DOI: https://doi.org/10.1007/978-3-642-34103-8_57
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