Stable Dynamic Walking of a Quadruped Robot “Kotetsu” against Perturbations on Posture and Rhythmic Motion
نویسندگان
چکیده
We are developing a general quadrupedal locomotion controller by using a neural model involving a CPG (Central Pattern Generator) utilizing normal ground reaction force (leg loading) sensory feedback for both rolling motion (posture) and gait (rhythmic motion) control. In this abstract, we report the results of experiments using a quadruped robot “Kotetsu” in order to verify the results of our previous simulation study. Movies and detailed specifications of the robot can be seen at: http://robotics.mech.kit.ac.jp/kotetsu/.
منابع مشابه
Stable dynamic walking of a quadruped robot "Kotetsu" using phase modulations based on leg loading/unloading
In this study, we intend to show the basis of a general legged locomotion controller with the ability to integrate both posture and rhythmic motion controls and shift continuously from one control method to the other according to the walking speed. The rhythmic motion of each leg in the sagittal plane is generated by a single leg controller which controls the swing-to-stance and stance-toswing ...
متن کاملStable dynamic walking of the quadruped "Kotetsu" using phase modulations based on leg loading/unloading against lateral perturbations
We intend to show the basis of a general legged locomotion controller with the ability to integrate both posture and rhythmic motion controls. We respectively used leg loading and unloading for the phase transitions from swingto-stance and stance-to-swing, and showed the following in our previous 3D model simulation study: (a) as a result of the phase modulations based on leg loading/unloading,...
متن کاملDynamics modeling and stable gait planning of a quadruped robot in walking over uneven terrains
Quadruped robots have unique capabilities for motion over uneven natural environments. This article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. First, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-DOF quadruped robot. Thereafter, an inverse-dynamics...
متن کاملDynamics, Stability Analysis and Control of a Mammal-Like Octopod Robot Driven by Different Central Pattern Generators
In this paper, we studied numerically both kinematic and dynamic models of a biologically inspired mammal-like octopod robot walking with a tetrapod gait. Three different nonlinear oscillators were used to drive the robot’s legs working as central pattern generators. In addition, also a new, relatively simple and efficient model was proposed and investigated. The introduced model of the gait ge...
متن کاملBiomimetic Locomotion Control of a Quadruped Walking Robot
In this paper, a new biomimetic control method for a quadruped walking robot is proposed. The method is derived by the observation of the gravity load receptor and stimulusreaction mechanism of quadrupeds’ locomotion, and the study of the stances on walking and energy efficiency. Though the controller is simple, it provides a useful framework for controlling a quadruped walking robot. In partic...
متن کامل