Omnidirectional Locomotion for Quadruped Robots
نویسندگان
چکیده
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 robot used in the competition. It is believed to be the fastest walk style known for this type of robot. In this paper we describe the parameterised omnidirectional walk in detail. The walk also made a positive contribution to other robot tasks such as ball tracking and localisation while playing soccer. The authors believe that this omnidirectional locomotion could be applied more generally in other quadruped robots.
منابع مشابه
Central Pattern Generator Based Omnidirectional Locomotion for Quadrupedal Robotics
Trajectory generation for quadruped robots is a challenging task since they are underactuated systems which must balance using sensory feedback and satisfy ground contact constraints. There is a substantial body of evidence that many animals use central pattern generators (CPGs) for generating joint trajectories and regulation through sensory feedback. However, CPG models formulated in the join...
متن کاملPiecewise linear spine for speed-energy efficiency trade-off in quadruped robots
We compare the effects of linear and piecewise linear compliant spines on locomotion performance of quadruped robots in terms of energy efficiency and locomotion speed through a set of simulations and experiments. We first present a simple locomotion system that behaviorally resembles a bounding quadruped with flexible spine. Then, we show that robots with linear compliant spines have higher lo...
متن کاملCPG modulation for navigation and omnidirectional quadruped locomotion
Navigation in biological mechanisms represents a set of skills needed for the survival of individuals, including target acquisition and obstacle avoidance. In this article, we focus on the development of a quadruped locomotion controller able to generate omnidirectional locomotion and a path planning controller for heading direction. The heading direction controller is able to adapt to sensory-...
متن کاملRole of Spine Compliance and Actuation in the Bounding Performance of Quadruped Robots
There is so far no quadruped robot that exhibits locomotion performance matching to that shown by animals every day. Both differences in general design concepts, in available materials and actuation mechanisms as well as a lack of understanding on the control of the robots’ actuators contribute to the current performance gap between robotic platforms and their biological counterparts. While for...
متن کاملCPGs With Continuous Adjustment of Phase Difference for Locomotion Control Regular Paper
The central pattern generator (CPG) has been found to be a real, existing neuron controller for the locomotion control of animals and it has been used on bio‐inspired robots widely in recent years. However, research on the adaptability of CPG‐based locomotion control methods is still a challenge. In particular, the performance of the CPG method on qua...
متن کامل