Control and omni-directional locomotion of a crawling quadruped
| Autor: | Jan F. Broenink, Stefano Stramigioli, Michiel Coelen, Douwe Dresscher |
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| Rok vydání: | 2014 |
| Předmět: | |
| Zdroj: | Simulation, Modeling, and Programming for Autonomous Robots ISBN: 9783319118994 SIMPAR 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014, 486-497 STARTPAGE=486;ENDPAGE=497;TITLE=4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014 Scopus-Elsevier |
| ISSN: | 0302-9743 |
| Popis: | Traversing unstructured environments, (statically stable) legged robots could be applied effectively but, they face two main problems: the high complexity of the system and the low speed of locomotion. To address the complexity of the controller, we apply a control layer that abstracts the legged robot to an omni-directional moving mass. In this control scheme, we apply the gait generator as proposed by Estremera and de Santos. We present theory to determine the theoretically maximum achievable velocity of a quadruped and compare the (omni-directional) maximum velocity of the selected gait generator with this optimum to validate its performance. For our use case the theoretically maximum achievable velocity is 1ams '—' 1; in simulations we achieve a velocity for straight movement of maximum 0.75ams '—' 1. Normal turns with a radius larger than 0.45am are possible at a velocity of at least 0.1ams '—' 1; the performance of crab turns is too unpredictable to be useful. The gait generator as proposed by Estremera and de Santos is partially capable of supporting omni-directional movement at satisfactory velocities. |
| Databáze: | OpenAIRE |
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