Real-time kinematics on the translational crawl motion of a quadruped robot

Xuedong Chen, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi

Research output: Contribution to journalArticlepeer-review

21 Citations (Scopus)


It is known that the kinematics of a quadruped robot is complex due to its topology and the redundant actuation in the robot. However, it is fundamental to compute the inverse and direct kinematics for the sophisticated control of the robot in real-time. In this paper, the translational crawl gait of a quadruped robot is introduced and the approach to find the solution of the kinematics for such a crawl motion is proposed. Since the resulting kinematics is simplified, the formulation can be used for the real-time control of the robot. The results of simulation and experiment shows that the present method is feasible and efficient.

Original languageEnglish
Pages (from-to)111-131
Number of pages21
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number2
Publication statusPublished - Oct 2000
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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