Control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait

Li, Mantian; Jiang, Zhenyu; Wang, Pengfei; Sun, Lining; Ge, Shuzhi Sam

doi:10.1016/s1672-6529(14)60043-3

Cited by 79 publications

(23 citation statements)

References 15 publications

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“…Legged locomotion can be difficult to analyze and control due to the high dimensionality and nonlinearity of a legged system. Simple models are often used to study the balance strategy, and the most notable model of these is the 3D-Linear Inverted Pendulum Model (LIPM) [24], [25], [26], [27], which is linear due to the assumption that the height of the center of mass (CoM) is constant, and there are zero vertical acceleration and zero angular momentum. So in this study, we use LIPM as the prediction model for MPC.…”

Section: Dimensionless Dynamics Model For Quadruped Robotsmentioning

confidence: 99%

Model Predictive Control for Motion Planning of Quadrupedal Locomotion

Shi

Wang

et al. 2019

2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)

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This paper is motivated to transfer the model predictive control approach used in bipedal locomotion to formulate gait planning of quadrupedal robots. The particular lateral-sequence gait of quadrupeds is treated as an equivalence to the bipedal walking. The Model Predictive Control (MPC) algorithm uses 3D-Linear Inverted Pendulum Model for representing the center of mass dynamics for planning the quadrupedal gaits, and a dimensionless discretetime state-space formulated is derived for MPC. Subsequently, the footholds can be generated automatically via optimization of quadratic programming (QP) without the need of a separate footstep planner. The generated walking gaits were implemented and validated first in the physics simulation of a quadruped named EHbot, and then the effectiveness of the proposed method was further demonstrated through our experiments. Both simulation and experimental data are presented and analyzed for evaluating the performance.

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Section: Dimensionless Dynamics Model For Quadruped Robotsmentioning

confidence: 99%

Model Predictive Control for Motion Planning of Quadrupedal Locomotion

Shi

Wang

et al. 2019

2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)

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“…The breadth-first search (BFS) algorithm is adopted to search all the possible connections. 16,17 To evaluate the realizability of possible connection, the average probability p av is defined as evaluation parameter by equation (15)…”

Section: Connection Algorithm Of the Neural Networkmentioning

confidence: 99%

“…To solve this problem, the connection length is transformed into the S-shaped function by the distribution function F(x) and fitted by the exponential function. Then, the output function is obtained by the linear transformation of phase difference between the connection length and the oscillating signal as shown in equation (17). x represents the axon length, u represents the phase difference between the oscillation signals.…”

Section: Output Function Of the Neural Networkmentioning

confidence: 99%

A neural network growing algorithm based on Brownian movement and gravity constraint

Liu

Zha

Wang

et al. 2018

Advances in Mechanical Engineering

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A growing algorithm of neural network based on axon growth is developed in this article. At the beginning, the Newtonian gravitation and the Brownian motion are employed to establish an axon growth model, and the constraint function of the neural axon growth is derived according to the gravitational coefficient and the Brown coefficient. And then, the growing algorithm of neural network is obtained on the basis of the output function of neural network. Simulation experiments show that the developed algorithm can simulate the process that different neurons connect each other by their axon growth to establish neural network. And at the end, the developed algorithm is applied to the rhythmic motion control of a quadruped robot to verify the effectiveness in walk gait and in trot gait, respectively.

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“…The design of robots profits from the inspiration from their natural counterparts. [6][7][8] Li et al 9 addressed the control problem of the trotting gait of a quadruped robot with bionic springy legs. Ho et al 10 presented the design and prototype of a small quadruped robot whose walking motion is realized by two piezocomposite actuators.…”

Section: Introductionmentioning

confidence: 99%

Scorpio

Tan

Elara

Elangovan

2016

International Journal of Advanced Robotic Systems

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This paper presents the bio-inspired design, realization, and validation of a reconfigurable rolling-crawling robot. The developed platform is able to mimic Cebrennus rechenbergi, a species of huntsman spider which can crawl and roll using only its legs. Mechanical design, control architecture, and actuator selection strategies targeting platform miniaturization are presented in detail. The navigating and autonomous capabilities of the robot are examined in two facets: (1) recovery behaviors where a robot in a previously unknown state after a fall recovers autonomously to a known standing gait state using Inertial Measurement Unit (IMU); and (2) terrain perception where the robot is capable of autonomously assessing the characteristics of the terrain and chooses the appropriate morphology and locomotion mode in relation to the perceived terrain.

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Control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait

Cited by 79 publications

References 15 publications

Model Predictive Control for Motion Planning of Quadrupedal Locomotion

Model Predictive Control for Motion Planning of Quadrupedal Locomotion

A neural network growing algorithm based on Brownian movement and gravity constraint

Scorpio

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