The problem of tuning nonlinear dynamical systems parameters, such that the attained results are considered good ones, is a relevant one. This article describes the development of a gait optimization system that allows a fast but stable robot quadruped crawl gait. We combine bio-inspired Central Patterns Generators (CPGs) and Genetic Algorithms (GA). CPGs are modelled as autonomous differential...

In this report, we propose an analog circuit that implements a locomotion controller for a quadruped walking robot. Animal locomotion, such as walking, running, swimming and flying, is based on periodic rhythmic movements driven by the biological neural network, called the central pattern generator (CPG). In recent years, many researchers have applied the CPG to locomotion controller for walkin...

Abstract. To realize dynamically stable walking for a quadruped walking robot, the combination of the trajectory planning of the body and leg position (feedforward control) and the adaptive control using sensory information (feedback control) is indispensable. In this paper, we propose a new body trajectory, the 3D sway compensation trajectory, for a stable trot gait; we show that this trajecto...

Abstract Quadruped robots are likely to fall into the fault joint state in outdoor explorations. The unexpected lock may suddenly happen when quadruped implementing normal gaits, and maintaining primal movement patterns finish targeted tasks could be disastrous. In this paper, a fault-tolerant motion planning generation method for with is proposed. Fault-tolerant cases on three types of joints ...

This work addresses the question whether active impedance control is key to a breakthrough for legged robots. In this paper, we will talk about controlling the mechanical impedance of joints and legs with a focus on stiffness and damping control. In contrast to passive elements like springs, active impedance is achieved by torque-controlled joints allowing real-time adjustment of stiffness and ...

Many legged robots have been developed, and some of them have already achieved dynamically stable bipedal and quadruped locomotion. Common characteristics of these conventional legged robots are that their motions are precisely manipulated by their control (i.e., gait and balance). In the case of ASIMO (Hirose et al., 2001) and HRP2 (Kaneko et al., 2004), their dynamically stable bipedal locomo...