Motion control of a quadruped robot in unknown rough terrains using 3D spring damper leg model

This paper presents a simple method to control the motion of a quadruped robot in unknown rough terrains using a full dynamic model. First, using typical stiffness control method, the four legs' behavior is approximated to 3D spring damper systems. By this way, we can easily derive the dynamic equations of motion in Cartesian space. Based on these equations, a control strategy is proposed to obtain the asymptotical stability of the system. In addition, a reflex signal is also introduced to control the rotational disturbance of the robot body. Finally, dynamic simulation of a quadruped walking robot is performed on several unknown rough terrains to verify the proposed method.

[1]  Yasuhiro Fukuoka,et al.  Adaptive Dynamic Walking of a Quadruped Robot on Irregular Terrain Based on Biological Concepts , 2003, Int. J. Robotics Res..

[2]  Auke Jan Ijspeert,et al.  Self-organized adaptive legged locomotion in a compliant quadruped robot , 2008, Auton. Robots.

[3]  Francis L. Merat,et al.  Introduction to robotics: Mechanics and control , 1987, IEEE J. Robotics Autom..

[4]  Martin Buehler,et al.  Control and Stability Analysis of Limit Cycles in a Hopping Robot , 2007, IEEE Transactions on Robotics.

[5]  Luther R. Palmer,et al.  Quadrupedal running at high speed over uneven terrain , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[6]  Pranav Sukthankar,et al.  Self-Organizing Running in a Quadruped Robot Model , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[7]  Philip Holmes,et al.  Running in Three Dimensions: Analysis of a Point-mass Sprung-leg Model , 2005, Int. J. Robotics Res..

[8]  Juergen Rummel,et al.  Manuscript: Stable Running with Segmented Legs ¤ , 2008 .

[9]  Philip Holmes,et al.  Stability Analysis of Legged Locomotion Models by Symmetry-Factored Return Maps , 2004, Int. J. Robotics Res..

[10]  James P. Schmiedeler,et al.  The effect of asymmetrical body-mass distribution on the stability and dynamics of quadruped bounding , 2006, IEEE Transactions on Robotics.

[11]  J. Estremera,et al.  Quadrupedal Locomotion: An Introduction to the Control of Four-legged Robots , 2006 .

[12]  John Guckenheimer,et al.  The Dynamics of Legged Locomotion: Models, Analyses, and Challenges , 2006, SIAM Rev..

[13]  Sangdeok Park,et al.  A new method in modeling Central Pattern Generators to control quadruped walking robots , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[14]  Philip Holmes,et al.  Three-dimensional Translational Dynamics and Stability of Multi-legged Runners , 2006, Int. J. Robotics Res..

[15]  Wan Kyun Chung,et al.  Gait planning for quadruped robot based on dynamic stability: landing accordance ratio , 2009, Intell. Serv. Robotics.

[16]  Ph. Mullhaupt.  Review of "The dynamics of legged locomotion: models, analysis, and challenges" by Ph. Holmes, R. J. Full, D. Koditschek, and J. Guckenheimer, SIAM Rev. 48 (2006), no. 2, 207-304 , 2007 .

[17]  Sanford G. Meek,et al.  Stability of a trotting quadruped robot with passive, underactuated legs , 2008, 2008 IEEE International Conference on Robotics and Automation.