Fast Parametric Transitions for Smooth Quadrupedal Motion

This paper describes a motion system for a quadruped robot that performs smooth transitions over requested body trajectories. It extends the generality of path based approaches by introducing geometric primitives that guarantee smoothness while decreasing (and in some cases entirely removing) constraints on when and what types of parameter transitions can be made. The overall motion system for the autonomous Sony legged robot that served as our test-bedis also described. This motion system served as a component in our entry in the RoboCup-2000 world robotic soccer championship, in which we placed third, losing only a single game.

[1]  Robert B. McGhee,et al.  Some finite state aspects of legged locomotion , 1968 .

[2]  M. Carter.  Computer graphics: Principles and practice , 1997 .

[3]  Hiroaki Kitano,et al.  RoboCup: The Robot World Cup Initiative , 1997, AGENTS '97.

[4]  Hiroaki Kitano,et al.  Playing soccer with legged robots , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).

[5]  Gregory S. Hornby,et al.  Autonomous evolution of gaits with the Sony Quadruped Robot , 1999 .

[6]  Vincent Hugel.  Contribution a la commande de robots hexapode et quadrupede , 1999 .

[7]  Masahiro Fujita,et al.  Evolving robust gaits with AIBO , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[8]  Manuela M. Veloso,et al.  CMPack: a complete software system for autonomous legged soccer robots , 2001, AGENTS '01.

[9]  Kunikatsu Takase,et al.  Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain Using a Neural System Model , 2000, ISRR.