Rapid change of running direction for biped robots

Kang, Namgu; Cho, Jae Uk; Park, Jong Hyeon

doi:10.1109/humanoids.2014.7041404

Cited by 1 publication

(1 citation statement)

References 14 publications

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“…Creatures often do not run in only one direction, and they have the ability to move at high speed in 3D space [27,28]. The research on the motion abilities of bio-inspired robots has also expanded from plane motion to 3D space [29,30]. For examples, Di Carlo et al [22] presented the implementation of model predictive control (MPC) to determine ground reaction forces for a torque-controlled quadruped robot, and the developed MIT Cheetah 3 can realize a full 3D gallop.…”

Section: Introductionmentioning

confidence: 99%

Method of Changing Running Direction of Cheetah-Inspired Quadruped Robot

Meng

Jun

Zhang

et al. 2022

Sensors

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The rapid change of motion direction during running is beneficial to improving the movement flexibility of the quadruped robot, which is of great relevance to its research. How to make the robot change its motion direction during running and achieve good dynamic stability is a problem to be solved. In this paper, a method to change the running direction of the cheetah-inspired quadruped robot is proposed. Based on the analysis of the running of the cheetah, a dynamic model of the quadruped robot is established, and a two-level stability index system, including a minimum index system and a range index system, is proposed. On this basis, the objective function based on the stability index system and optimization variables, including leg landing points, trunk movement trajectory, and posture change rule, are determined. Through these constraints, the direction changes with good dynamic stability of the cheetah-inspired quadruped robot during running is realized by controlling the leg parameters. The robot will not roll over during high-speed movement. Finally, the correctness of the proposed method is proven by simulation. This paper provides a theoretical basis for the quadruped robot’s rapid change of direction in running.

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