Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground Based on Biological Concepts

Kimura, Hiroshi; Fukuoka, Yasuhiro; Cohen, Avis H.

doi:10.1177/0278364907078089

Cited by 427 publications

(253 citation statements)

References 38 publications

Supporting

Mentioning

249

Contrasting

Unclassified

Order By: Relevance

“…To try to exploit the potential of legged locomotion a number of solutions have been developed for robots of varying size, powered by diverse energy sources. Among these, notable examples include Fujita and Kitano (1998); Berns et al (1998); Canderle and Caldwell (2000); Nichol et al (2004); Poulakakis et al (2005); Buehler et al (2005); Zhang et al (2005); Kimura et al (2007); Raibert et al (2008); Hirose et al (2009);Semini et al (2011). Quadrupedal locomotion presents good intrinsic stability features, but the coordination of the motion of four legs is non-trivial to control.…”

Section: Introductionmentioning

confidence: 99%

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

et al. 2013

View full text Add to dashboard Cite

This manuscript proposes a method to directly transfer the features of horse walking, trotting, and galloping to a quadruped robot, with the aim of creating a much more natural (horse-like) locomotion profile. A Principal Component Analysis (PCA) on horse joint trajectories shows that walk, trot, and gallop can be described by a set of four kinematic Motion Primitives (kMPs). These kMPs are used to generate valid, stable gaits that are tested on a compliant quadruped robot. Tests on the effects of gait frequency scaling follow: results indicate a speed-optimal walking frequency around 3.4 Hz, and an optimal trotting frequency around 4 Hz. Following, a criterion to synthesize gait transitions is proposed, and the walk/trot transitions are successfully tested on the robot. The performance of the robot when the transitions are scaled in frequency is evaluated by means of roll and pitch angle phase plots.

show abstract

Section: Introductionmentioning

confidence: 99%

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

et al. 2013

View full text Add to dashboard Cite

show abstract

“…A large fraction of the current research in legged locomotion is focused on dynamically controlled robots (Campbell and Buehler, 2003), (Kimura et al, 2007), where the center of gravity (CG) is allowed to move outside of the polygon of ground contacts. This approach, which uses closed loop controllers to dynamically react to experienced forces and positions, has led to the success of well-known robots such as BigDog (Playter et al, 2006), which is capable of recovering its balance after slipping on ice.…”

Section: Dynamic Walkersmentioning

confidence: 99%

Development and field testing of the FootFall planning system for the ATHLETE robots

SunSpiral

Wheeler

Chavez-Clemente

et al. 2012

Journal of Field Robotics

View full text Add to dashboard Cite

The FootFall Planning System is a ground-based planning and decision support system designed to facilitate the control of walking activities for the ATHLETE (All-Terrain HexLimbed Extra-Terrestrial Explorer) family of robots. ATHLETE was developed at NASA's Jet Propulsion Laboratory (JPL) and is a large six-legged robot designed to serve multiple roles during manned and unmanned missions to the Moon; its roles include transportation, construction and exploration. Over the four years from 2006 through 2010 the FootFall Planning System was developed and adapted to two generations of the ATHLETE robots and tested at two analog field sites (the Human Robotic Systems Project's Integrated Field Test at Moses Lake, Washington, June 2008, and the Desert Research and Technology Studies (D-RATS), held at Black Point Lava Flow in Arizona, September 2010). Having 42 degrees of kinematic freedom, standing to a maximum height of just over 4 meters, and having a payload capacity of 450 kg in Earth gravity, the current version of the ATHLETE robot is a uniquely complex system. A central challenge to this work was the compliance of the high-DOF (Degree Of Freedom) robot, especially the compliance of the wheels, which affected many aspects of statically-stable walking. This paper will review the history of the development of the FootFall system, sharing design decisions, field test experiences, and the lessons learned concerning compliance and self-awareness.

show abstract

“…As a commonly used control method for compliance, the impedance control method has been widely applied to motor-driving legged robots such as the Tekken [7], Scout [8] and MIT cheetah robot [9]. In recent years, as the hydraulic-driven legged robot became the focus of increased research, impedance control was also applied to this kind of robot, as exemplified by robots such as Bigdog [10], HyQ [11], and Scalf-1 [12].…”

Section: Introductionmentioning

confidence: 99%

Parameters Sensitivity Analysis of Position-Based Impedance Control for Bionic Legged Robots’ HDU

Gao

et al. 2017

Applied Sciences

View full text Add to dashboard Cite

Abstract:For the hydraulic drive unit (HDU) on the joints of bionic legged robots, this paper proposes the position-based impedance control method. Then, the impedance control performance is tested by a HDU performance test platform. Further, the method of first-order sensitivity matrix is proposed to analyze the dynamic sensitivity of four main control parameters under four working conditions. To research the parameter sensitivity quantificationally, two sensitivity indexes are defined, and the sensitivity analysis results are verified by experiments. The results of the experiments show that, when combined with corresponding optimization strategies, the dynamic compliance composition theory and the results from sensitivity analysis can compensate for the control parameters and optimize the control performance in different working conditions.

show abstract

Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground Based on Biological Concepts

Cited by 427 publications

References 38 publications

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

Development and field testing of the FootFall planning system for the ATHLETE robots

Parameters Sensitivity Analysis of Position-Based Impedance Control for Bionic Legged Robots’ HDU

Contact Info

Product

Resources

About