Multistable phase regulation for robust steady and transitional legged gaits
نویسندگان
چکیده
منابع مشابه
Multistable Phase Regulation for Robust Steady and Transitional Legged Gaits
We develop robust methods that allow specification, control, and transition of a multi-legged robot’s stepping pattern—its gait—during active locomotion over natural terrain. Resulting gaits emerge through the introduction of controllers that impose appropriately-placed repellors within the space of gaits, the torus of relative leg phases, thereby mitigating against dangerous patterns of leg ti...
متن کاملMultistable phase regulation for robust steady and transitional legged gaits
We develop robust methods that allow specification, control, and transition of a multi-legged robot’s stepping pattern—its gait—during active locomotion over natural terrain. Resulting gaits emerge through the introduction of controllers that impose appropriately-placed repellors within the space of gaits, the torus of relative leg phases, thereby mitigating against dangerous patterns of leg ti...
متن کاملFree Locomotion Gaits for a Four Legged Machine
The human interaction with new kind of machines has made possible the development of new technics to drive and control devices in the robotics field. Specifically, on the control systems for walking machines there are several problems to be solved. Some of these problems are the free locomoction gaits. In this paper are shown the basic principles involved in the desing of free gaits to develop ...
متن کاملGait Regulation Control Techniques for Robust Legged Locomotion
This thesis develops methods of control that allow a multi-legged robot to vary its stepping pattern, the gait of a robot, during locomotion. By constructing feedback control around the gaits a robot may use, we produce behaviors allowing a robot to switch amongst or return to certain gaits while performing feedback control during locomotion. Gait regulation is one specific aspect of gait-based...
متن کاملAssessing stability and controllability of multi–legged gaits
Parsimonious dynamical models for legged locomotion are piecewise–defined. The state flows in continuous–time according to an ordinary differential equation (ODE) until a touchdown or liftoff event occurs, triggering an instantaneous reset at a discrete time instant [5]. We’ve shown that models for periodic gaits with footfalls isolated in time (e.g. bipedal walk or run, quadrupedal walk or gal...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2012
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364912458463