Analysis and Verification on Energy Consumption of the Quadruped Robot with Passive Compliant Hydraulic Servo Actuator

Learning Compliant Locomotion on a Quadruped Robot

Over the last decades, compliant locomotion and manipulation have become a very active field of research, due to the versatility that robots with such capabilities would offer in many applications. With very few exceptions, generally, robotic applications and experiments take place in controlled environments. One of the reasons of this limited use is that in real world scenarios, robots need to...

A Compliant Control Architecture for the Hydraulic Quadruped - HyQ

Compliant Leg Design for a Quadruped Robot

malian animals, i.e. that of a cat. It was also influenced by the spring-mass model representation [2]. Compliant prismatic legs show an intrinsic robustness for their angle of attack [2], they have a stability region. If the leg design is changed into a two segmented leg with a specific linear torsional spring, the leg stiffness kleg becomes nonlinear (Fig. 2(b) blue line), similar to that of ...

Compliant Robot Behavior Using Servo Actuator Models Identified by Iterative Learning Control

System parameter identification is a necessary prerequisite for model-based control. In this paper, we propose an approach to estimate model parameters of robot servo actuators that does not require special testing equipment. We use Iterative Learning Control to determine the motor commands needed to follow a reference trajectory. To identify parameters, we fit a model for DC motors and frictio...

Stable Running in a Quadruped Robot with Compliant Legs

We have constructed an autonomous quadruped, Scout II, which features only a hip actuator and a passive compliant prismatic joint per leg. In this paper we demonstrate in simulation the control of stable running via two control strategies. One of them is verified experimentally on Scout II at a running speed near 1.2 m/s. The simulation model is verified experimentally.