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Gait of Quadruped Robot and Interaction Based on Gesture Recognition

Nguyen Truong Thinh, Nguyen Tan Viet Tuyen, and Dang Thai Son
Department of Mechatronics, Ho Chi Minh City University of Technical and Education, Ho Chi Minh City, Vietnam
Abstract—This paper proposed a gait planning for quadruped robot pet. Kinematic structure was established and two-phase discontinuous gait was suggested for straight-line motion of quadruped robot. This system was implemented in a real quadruped pet robot which also embedded smartphone as a powerful computer for data analysis and human-machine interaction based on gesture recognition. Experiment result was carried out to verify the proposed gait planning and the gesture recognition for the interaction.

Index Terms—quadruped robot, smartphone, gait, gesture recognition

Cite: Nguyen Truong Thinh, Nguyen Tan Viet Tuyen, and Dang Thai Son, "Gait of Quadruped Robot and Interaction Based on Gesture Recognition," Jounal of Automation and Control Engineering, Vol. 4, No. 1, pp. 53-58, February, 2016. doi: 10.12720/joace.4.1.53-58
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