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Control for Quadruped Robots in Trotting on Horizontal and Slanted Surfaces

Title
Control for Quadruped Robots in Trotting on Horizontal and Slanted Surfaces
Author
박종현
Keywords
Engineering Profession; Power, Energy and Industry Applications; Robotics and Control Systems; Signal Processing and Analysis; Trajectory; Legged locomotion; Animals; Impedance; Surface impedance; Foot
Issue Date
2013-06
Publisher
IEEE
Citation
Control Conference (ASCC), 2013 9th Asian 2013, June 2013, pp.1 - 6
Abstract
The objective of this work is to make a quadruped robot trot on horizontal and slanted surfaces through a natural transition of motion. For this, control methods that are different from the ones devised for robot trotting on horizontal surface are required. The control methods proposed in this paper consist of two parts: natural movement of the center point of foot trajectory and the impedance control based on variable impedance parameters. The changes of the center point are generated for a gradual and continuous adaptive foot motion. And, the variable impedance control and leg controls are used to maintain the stability of locomotion as well as to reduce the yawing motion. Motion of a quadruped robot with the proposed control methods were simulated and their performance were verified through the simulations.
URI
http://ieeexplore.ieee.org/abstract/document/6606158/http://repository.hanyang.ac.kr/handle/20.500.11754/73117
ISBN
978-1-4673-5767-8; 978-1-4673-5769-2
DOI
10.1109/ASCC.2013.6606158
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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