Structural Design and Crawling Pattern Generator of a Planar Quadruped Robot for High-Payload Locomotion

Robot and locomotion-controller design optimization for a reconfigurable quadruped

We present an automated approach to robot and locomotion-controller design optimization, using reinforcement learning methods that have been successfully demonstrated to teach a real prototype quadruped various walking gaits. The same machine learning methods are used here for a different purpose: to optimize robot and locomotion-controller design. Optimization can be used before or after build...

Adaptive gait pattern control of a quadruped locomotion robot

The authors have proposed a control system of a quadruped locomotion robot by using nonlinear oscillators. It is composed of a leg motion controller and a gait pattern controller. The leg motion controller drives the actuators of the legs by using local feedback control. The gait pattern controller involves nonlinear oscillators with mutual interactions. In this paper, capability of adaptation ...

Free Gait Pattern Generator for the Quadruped Walking Robot ALDURO

The purpose of this paper is to give a short overview of the ongoing work of the combined four-legged and wheeled walking machine ALDURO with special consideration to gait generation in unstructured terrain.

Control and Omni-directional Locomotion of a Crawling Quadruped

robot to mass (with friction) Force in, velocity out causality Ewoud Vos 6 Mass Impedance Legged robot controller Fig. 1: Abstraction of a legged robot to an omni-directional moving mass that can then, for instance, be controlled by an impedance controller. Fig. 1. This scheme requires a gait controller that ensures that the legs move to support the motion of the robot. The gait generator as pr...

Effect of Leg Design on Locomotion Stability for Quadruped Robot