A Controller for the LittleDog Quadruped Walking on Rough Terrain

Author

Rebula, John R. ; Neuhaus, Peter D. ; Bonnlander, Brian V. ; Johnson, Matthew J. ; Pratt, Jerry E.

Author_Institution

Florida Inst. for Human & Machine Cognition, Pensacola, FL

fYear

2007

fDate

10-14 April 2007

Firstpage

1467

Lastpage

1473

Abstract

We present a controller for a quadrupedal robot statically walking on known rough terrain. The controller has both deliberative and reactive components for task specific control issues, such as impassable terrain and unmodeled foot slippage. The controller architecture supports multiple gaits, and we present both a stable omnidirectional gait and a faster directional gait. The robot successfully negotiates obstacles up to 7.5 cm (ap40% leg length) tall and navigates over rocky terrain.

Keywords

collision avoidance; image motion analysis; legged locomotion; robot kinematics; robot vision; stability; LittleDog quadruped robot; controller architecture; deliberative components; directional gait; impassable terrain; multiple gait controller; obstacle negotiation; reactive components; rocky terrain; rough terrain; stable omnidirectional gait; static walking; task specific control; unmodeled foot slippage; walking controller; Foot; Knee; Leg; Legged locomotion; Measurement units; Motion control; Navigation; Robot sensing systems; Search problems; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2007 IEEE International Conference on

Conference_Location

Roma

ISSN

1050-4729

Print_ISBN

1-4244-0601-3

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2007.363191

Filename

4209295