Locomotion control of a four-legged robot embedding real-time reasoning in the force distribution

Abstract This paper discusses the application of rule-based reasoning to manage in real time the force distribution computation within a locomotion control of quadruped robots. The control uses input–output linearization in the attitude subsystem, and optimal linear control in the overall locomotion system. The force distribution approach provides more adaptability and flexibility to the locomotion control, because the system is capable of fast adaptation to a wide variety of situations. Rules defining the knowledge about how to deal with walk events and feet forces calculation are presented. The rule-based reasoning is made using the KHEOPS system (LAAS).

[1]  M. James.  Complex Systems: Non-linear control systems , 2000 .

[2]  R. McN. Alexander,et al.  The Gaits of Bipedal and Quadrupedal Animals , 1984 .

[3]  Nadine N. Tschichold-Gürman,et al.  The development of a robot terrain interaction system for walking machines , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[4]  Luiz de Siqueira Martins-Filho,et al.  A walk supervisor architecture for autonomous four-legged robots embedding real-time decision-making , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[5]  Huibert Kwakernaak,et al.  Linear Optimal Control Systems , 1972 .

[6]  Woong Kwon,et al.  Optimal force distribution of multiple cooperating robots using nonlinear programming dual method , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[7]  Daniel J. Pack,et al.  An omnidirectional gait control using a graph search method for a quadruped walking robot , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[8]  Shigeo Hirose,et al.  Dynamic And Static Fusion Control Of Quadruped Walking Vehicle , 1989, Proceedings. IEEE/RSJ International Workshop on Intelligent Robots and Systems '. (IROS '89) 'The Autonomous Mobile Robots and Its Applications.

[9]  Charles A. Klein,et al.  Optimal force distribution for the legs of a walking machine with friction cone constraints , 1990, IEEE Trans. Robotics Autom..

[10]  Joseba Quevedo,et al.  TIGER: Knowledge Based Gas Turbine Condition Monitoring , 1996, AI Commun..

[11]  John F. Gardner,et al.  Efficient computation of force distributions for walking machines on rough terrain , 1992, Robotica.

[12]  Jorge Angeles,et al.  Real-time force optimization in parallel kinematic chains under inequality constraints , 1992, IEEE Trans. Robotics Autom..

[13]  John F. Gardner,et al.  Force distribution and trajectory control for closed kinematic chains with applications to walking machines , 1987 .

[14]  Malik Ghallab,et al.  A compiler for real-time knowledge-base systems , 1988, Proceedings of the International Workshop on Artificial Intelligence for Industrial Applications.