DocumentCode
2864517
Title
Stable open loop walking in quadruped robots with stick legs
Author
Buehler, M. ; Cocosco, A. ; Yamazaki, K. ; Battaglia, R.
Author_Institution
Center for Intelligent Machines, McGill Univ., Montreal, Que., Canada
Volume
3
fYear
1999
fDate
1999
Firstpage
2348
Abstract
In our previous work (1998) we have shown that walking can be implemented on quadrupeds with stiff legs and only one actuated degree of freedom in the hip, based on the concept of controlled momentum transfer. In this paper we show via simulations and experiments on two different quadruped robots that dynamically stable and robust walking can be achieved via an open loop controller which is active only during the back leg support phase
Keywords
legged locomotion; motion control; robot dynamics; robust control; dynamics; legged locomotion; momentum transfer; open loop walking; quadruped robots; robust control; stability; stick legs; Actuators; Costs; Hip; Leg; Legged locomotion; Open loop systems; Robot sensing systems; Robust control; Robust stability; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.770456
Filename
770456
Link To Document