Dynamic turning control of a quadruped robot using nonlinear oscillators

Author

Tsujita, Katsuyoshi ; Toui, Hiroomi ; Tsuchiya, Kazuo

Author_Institution

Dept. of Aeronaut. & Astronautics, Kyoto Univ., Tokyo, Japan

Volume

1

fYear

2004

fDate

28 Sept.-2 Oct. 2004

Firstpage

969

Abstract

The authors have proposed a dynamic turning control system of a quadruped robot by using nonlinear oscillators. It is composed of a spontaneous locomotion controller and voluntary motion controller. In this article, capability of dynamic turning motion of the proposed control system is verified through numerical simulations and hardware experiments: Various turning speed and orientation make the motion of the robot asymmetry in terms of duty ratio, stride and center of pressure. The proposed controller actively and adaptively controls redundant DOF to cancel the dynamic asymmetry and established stable turning motion at various locomotion speed and turning orientation.

Keywords

legged locomotion; motion control; oscillators; dynamic turning control; nonlinear oscillators; quadruped robot; robot asymmetry; spontaneous locomotion controller; voluntary motion controller; Control system synthesis; Control systems; Motion control; Nonlinear control systems; Nonlinear dynamical systems; Numerical simulation; Oscillators; Pressure control; Robots; Turning;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8463-6

Type

conf

DOI

10.1109/IROS.2004.1389478

Filename

1389478