Locomotion Control of Legged Robots using Nonlinear Oscillators
نویسندگان
چکیده
This paper deals with locomotion control of legged robots using nonlinear oscillators. The proposed control system is composed of a motion plan system and a motion control system. The motion plan system is composed of a motion generator and a trajectory generator. The nonlinear oscillators in the motion generator tune the phases through the feedback signals from the touch sensors at the tips of the legs as well as mutual interactions. The trajectory generator encodes a nominal trajectory of each joint angle in terms of phase of the corresponding oscillator, and the motor controllers in the motion control system drive the joint motors in order to realize the desired motion generated by the motion plan system. As a result, the proposed controller can adapt to a dynamic environment by changing the locomotion pattern. Moreover, it does not depend on a detailed model of the robot, and thus it can be widely applied to various types of legged robots. In this paper, by applying the proposed control system to two types of legged robots, a quadruped robot and a biped robot, the advantages of the controller are demonstrated by numerical simulations and hardware experiments.
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