Fore-Aft Leg Specialization Controller for a Dynamic Quadruped

被引：0

作者：

Brown, Jason M. ^{[1
]}

Carbiener, Charlie P. ^{[1
]}

Nicholson, John ^{[1
]}

Hemenway, Nicholas ^{[1
]}

Pusey, Jason L. ^{[2
]}

Clark, Jonathan E. ^{[1
]}

机构：

[1] Florida State Univ, Dept Mech Engn, Tallahassee, FL 32310 USA

[2] US Army Res Lab, Vehicle Technol Directorate, Autonomous Syst Div, Adelphi, MD USA

来源：

2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2018年

关键词：

DESIGN; LOCOMOTION; GAIT; MODEL;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Many running animals, unlike their robotic counterparts, have distinct morphologies and functional roles for their front and rear legs. In this paper we present a new control approach for a 5kg autonomous dynamic quadruped that explicitly encodes separate roles for each contralateral pair of legs. This controller utilizes a functional dynamic decomposition similar to Raibert's three part control law, but focuses on fore-aft leg specialization to regulate the robot's performance. The velocity of this controller, which exceeds 5 body lengths per sec, is compared with an improved trajectory-based controller and shown to be significantly more robust to changes in environment.

引用

页码：4383 / 4390

页数：8

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