Active stabilization of a stiff quadruped robot using local feedback
Autor: | Mehmet Mutlu, Paulo Oliveira, Auke Jan Ijspeert, Simon Hauser, Florin Dzeladini, Rui Vasconcelos, Tomislav Horvat, Kamilo Melo |
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Rok vydání: | 2017 |
Předmět: |
0209 industrial biotechnology
Computer science Oscillation Open-loop controller 02 engineering and technology Gait Synchronization Computer Science::Robotics Nonlinear system 020901 industrial engineering & automation Gait (human) Control theory Limit cycle 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing |
Zdroj: | IROS |
Popis: | Animal locomotion exhibits all the features of complex non linear systems such as multi-stability, critical fluctuation, limit cycle behavior and chaos. Studying these aspects on real robots has been proved difficult and therefore results mostly rely on the use of computer simulation. Simple control approaches — based on phase oscillators — have been proposed and exhibit several of these features. In this work, we compare two types of controllers: (a) an open loop control approach based on phase oscillators and (b) the Tegotae-based closed loop extension of this controller. The first controller has been shown to exhibit synchronization features between the body and the controller when applied to a quadruped robot with compliant leg structures. In this contribution, we apply both controllers to the locomotion of a stiff quadruped structure. We show that the Tegotae-controller exhibits self-organizing behavior, such as spontaneous gait transition and critical fluctuation. Moreover, it exhibits features such as the ability to stabilize both asymmetric and symmetric morphological changes, despite the lack of compliance in the leg. |
Databáze: | OpenAIRE |
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