A biologically inspired four legged walking robot

IFAC Proceedings Volumes

Won

Kwon

et al. 2008

This paper proposes trot pattern generation and online control methods for a legged robot to carry heavy-loads and move fast on the uneven terrain. The trot pattern is generated from the frequency modulated pattern generation method based on the frequency modulated oscillator in order for the legged robots to operate outdoors with the static and dynamic mobility. The efficiency and performance of the proposed are verified through the computer simulation and experiments using qRT-1/-2. In experiments, qRT which is a 2-legged and 2-wheeled robot and a front drive system vehicle with hydraulic linear actuators is used. The robot has trotted gaits at speeds up to 1.3 m/s on the even surface, walked up and down the 20 degree inclines, and walked at 0.7 m/s on the uneven surface. Also it has carried over 100 kg of the total weights including over 40 kg of the payload.

Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Foot Trajectory Generation of Hydraulic Quadruped Robots on Uneven Terrain

IFAC Proceedings Volumes

Won

Kwon

et al. 2008

“…Other research in quadruped locomotion has focused on using "central pattern generators" (or CPGs), which use networks of biologically inspired neural controllers to achieve periodic locomotion [12,13,14]. Some of these robots have been able to walk outdoors in unstructured environments, but the size of the irregularities is typically very small.…”

Section: Related Workmentioning

confidence: 99%

Stereo vision and terrain modeling for quadruped robots

Kolter

2009 IEEE International Conference on Robotics and Automation

2009

Legged robots offer the potential to navigate highly challenging terrain, and there has recently been much progress in this area. However, a great deal of this recent work has operated under the assumption that either the robot has complete knowledge of its environment or that its environment is suitably regular so as to be navigated with only minimal perception, an unrealistic assumption in many real-world domains. In this paper we present an integrated perception and control system for a quadruped robot that allows it to perceive and traverse previously unseen, rugged terrain that includes large, irregular obstacles. A key element of the system is a novel terrain modeling algorithm, used for filling in the occluded models resulting from on-board vision systems. We apply our approach to the LittleDog robot, and show that it allows the robot to walk over challenging terrain using only on-board perception.

“…Also it is able to overcome uneven terrains [4,5]. Especially to overcome a slope and an obstacle, the leg mechanism of the robot should have some kinematic redundancies.…”

Section: Introductionmentioning

confidence: 99%

A composite algorithm for flow rate reduction and stable body trajectory generation in a hydraulic actuated quadruped robot with kinematic redundancy

2011 IEEE International Conference on Mechatronics and Automation

Park

2011

A hydraulic actuator has a various merits. It has a small size and a high power-to-weight ratio. So it is able to generate high torque in small size actuator. These features of hydraulic actuator are very useful for a walking robot. However, the hydraulic actuator needs a hydraulic power-pack which supplies pressure and flow. Usually, a big and heavy power-pack is needed to generate high pressure and large flow rate. Especially this power-pack is a burden to the stand alone type robot. Therefore it is very important o minimize the size of the power-pack. In this paper, we propose a redundantly actuated quadruped robot which is driven by hydraulic actuator. Using the kinematic redundancy of each leg mechanism, a flow rate consumption minimization algorithm is proposed, which allows minimizing the size of a power-pack. We demonstrate the reduction of the flow rate of the robot through simulation and experiment.