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association of fetal heart rate patterns with nucleated red blood cell ... diagnosis of hypoxia, we studied the relationship between abnormal fetal heart rate with.
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With the GRC system, the evaluation can be cowhided for the straight line and the dn:ular motion with t.bo sallie Hot of eCjuations. Therefore the trajectory of a ...
Quadruped Free Gait Generation Combined with Body Trajectory Planning Shaoping Bait, K. H. Lowt and Teresa Zielinskat t School of Mechanical and Production Engineering
Nanyang Technological University, Singapore 639798 Republic of Singapore t Warsaw University of Technology
MEiL u1. Nowowiejska 24,00-665 Warsaw, Poland Abstract: A method of free gait generation
fOT both
straight line and circular body trajec tories is pr'oposed
utilizing the primary/secondary gait,
The prima""!1 gait
i s a fixed sequence of leg transfer s with mod*ed leg� ends kinematic limits according to I.he obstacle pn� ence, while the secondary gait
is a flexible gail,
which
ther
a
�trail!:ht. JillC(K)
or a
piece
of are.
In this paper, we
develop a free g ait algorithm combilled with th e plan ning of body trajectory. A mode of primar-Y/Hecondary
The pri
gad [9J is u�ed in tho gait generation. Thee primary gait is a domillating gait that call be llsed for most of the
stability con.�traint, kinematic constmint,
when the vehicle caunot. move with the primary gait.
is generated to adjust the leg-end position.
man) gait is gener'ated consid ering the following f01l.r' constr'aint s:
ehange of hody trajeetory is rarely taken into account.
llesultantly, the body t raj ectory in these method is ei
sequential constraint and neighboring constmints. Pri
walking conditioIls, while the HccoJldary gait is used only
Fom constraints was elaborated to narrow the search
mary gait parameters ar e modified by ihe influenc e of
ing scopes for I!:ait. parameters. A !!:c)lerali�ed reference
(GRC) system,
these conBt.raiuts. With
the o bs t a cle.
Using a g eneralized
refeTwee
coo1'dinate
all constraints and ob.�tacle infllLences
a1'f� expTes sed by only one set of equations despite the differ ence of motion mode.
With the pmposed method,
the ITee gait could be efficiently genemted with
consid
eration of body trajecto1'1f planninq. Simu.lation 1'e81tlts are given to demonstra ' te th e effidency of the pmposed methodology.
coordinate (GRC) systcm is llsed ill the evaluation of
motion with t.bo
The free gait generation is an important ta..
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