Leg Locomotion Adaption for Quadruped Robots with Ground Compliance Estimation

Omnidirectional Locomotion for Quadruped Robots

Competing at the RoboCup 2000 Sony legged robot league, the UNSW team won both the challenge competition and all their soccer matches, emerging the outright winners for this league against eleven other international teams. The main advantage that the UNSW team had was speed. A major contributor to the speed was a novel omnidirectional locomotion method developed for the quadruped Sony ERS-110 r...

Effect of Leg Design on Locomotion Stability for Quadruped Robot

Ground Reaction Forces Control for Torque-Controlled Quadruped Robots

Research into legged robotics is primarily motivated by the prospects of building machines that are able to navigate in challenging and complex environments that are predominantly non-flat. In this context, control of contact forces is fundamental to ensure stable contacts and stability of the robot. In this extended abstract we propose a planning/control framework for quasi-static walking for ...

Locomotion Control of quadruped robots Based on Workspace trajectory modulations

Designing an effective motion control for legged robots is a challenging task. Inspired by biological concept of central pattern generator, this paper proposes a locomotion control system consisting of a workspace trajectory modulator and a motion engine. The modulator adjusts swinging phase and supporting phase of a leg by adjusting toe positions on a predesigned workspace trajectory, while mo...

Locomotion Gait Optimization for a Quadruped Robot

Legged robot gait generation is a challenging task that involves the control of a large number of degrees of freedom (DOF’s) within a mechanical structure that varies during locomotion. A large number of motion parameters have to be considered in order to obtain a stable, natural and efficient locomotion. Legged robot locomotion applies nonlinear dynamical equations of high order with a multidi...