DocumentCode :
3159602
Title :
A study on adaptive gait transition of quadruped locomotion
Author :
Tsujita, Katsuyoshi ; Kobayashi, Toshiya ; Inoura, Takashi ; Masuda, Tatsuya
Author_Institution :
Dept. of Electr. & Electron. Syst. Eng., Osaka Inst. of Technol., Osaka
fYear :
2008
fDate :
20-22 Aug. 2008
Firstpage :
2489
Lastpage :
2494
Abstract :
The development of an oscillator controller for a quadruped robot with antagonistic pairs of pneumatic actuators is reported. Periodic motions of the legs switch between the swinging and supporting stages based on the phase of the oscillators. The oscillators receive touch sensor signals at the end of the legs as feedback when the leg touches the ground and compose a steady limit cycle of the total periodic dynamics of quadruped locomotion. And also muscle tone is adaptively controlled according to the dynamic state of the main body. This system can generate gait transition from one to another by changing locomotion speed and muscle tone. The effectiveness and performance of the proposed controller were evaluated with numerical simulations and experiments with the hardware.
Keywords :
adaptive control; feedback; legged locomotion; motion control; muscle; pneumatic actuators; position control; robot dynamics; tactile sensors; velocity control; adaptive control; adaptive gait transition; body posture control; feedback; leg periodic motion; locomotion speed; muscle tone; numerical simulation; oscillator controller; periodic dynamics; pneumatic actuator; quadruped locomotion; quadruped robot; touch sensor signal; Feedback; Leg; Limit-cycles; Muscles; Numerical simulation; Oscillators; Pneumatic actuators; Robot sensing systems; Switches; Tactile sensors; Gait transition; Muscle tone; Oscillator; Quadruped robot;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
SICE Annual Conference, 2008
Conference_Location :
Tokyo
Print_ISBN :
978-4-907764-30-2
Electronic_ISBN :
978-4-907764-29-6
Type :
conf
DOI :
10.1109/SICE.2008.4655084
Filename :
4655084
Link To Document :
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