Title :
Modular control of limit cycle locomotion over unperceived rough terrain
Author :
Ajallooeian, Mostafa ; Gay, Sebastien ; Tuleu, A. ; Sprowitz, A. ; Ijspeert, Auke J.
Author_Institution :
Biorobotics Lab., Ecole Polytech. Fed. de Lausanne (EPFL), Lausanne, Switzerland
Abstract :
We present a general approach to design modular controllers for limit cycle locomotion over unperceived rough terrain. The control strategy uses a Central Pattern Generator (CPG) model implemented as coupled nonlinear oscillators as basis. Stumbling correction and leg extension reflexes are implemented as feedbacks for fast corrections, and model-based posture control mechanisms define feedbacks for continuous corrections. The control strategy is validated on a detailed physics-based simulated model of a compliant quadruped robot, the Oncilla robot. We demonstrate dynamic locomotion with a speed of more than 1.5 BodyLength/s over unperceived uneven terrains, steps, and slopes.
Keywords :
control system synthesis; feedback; legged locomotion; limit cycles; oscillators; CPG model; Oncilla robot; central pattern generator; compliant quadruped robot; coupled nonlinear oscillators; feedbacks; leg extension reflexes; limit cycle locomotion; modular control; stumbling correction; unperceived rough terrain; Attitude control; Joints; Legged locomotion; Oscillators; Robot kinematics; Robot sensing systems;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
DOI :
10.1109/IROS.2013.6696839