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Gait transition of quadruped robot using time sequence control based on finite-state machine

机译：基于有限状态机的时间序列控制，四足机器人的步态过渡

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The adaptability of velocity changing of quadruped robot needs to be realized by gait transition. In this paper, a gait transition method of a quadruped robot based on changing the time sequence was investigated. The swing phase and the stance phase are separated by finite-state machine (FSM), and the locomotion gait involves breaking/enforcing synchronization or changing the order of leg liftoff events, it makes the duration time of liftoff and touchdown events variable. The gait transition from walk to trot is realized by the combination driving of time and event. The experiment is verified by interactive co-simulation among Matlab-Adams. The transition method satisfies the velocity changing of quadruped robot.
机译：需要通过步态转换来实现四足机器人的速度变化的适应性。本文研究了基于改变时间序列的四足机器人的步态转换方法。摆动阶段和姿势相通过有限状态机（FSM）分开，运动步态涉及破坏/实施同步或改变腿升降事件的顺序，使得升降和触摸事件变量的持续时间。通过组合驱动时间和事件来实现从步行到小跑的步态过渡。通过Matlab-ADAM之间的交互式共模进行了实验。过渡方法满足四轮机器人的速度变化。

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