Stability and performance of the compliance controller of the quadruped robot HyQ

Boaventura, Thiago; Medrano-Cerda, Gustavo A.; Semini, Claudio; Buchli, Jonas; Caldwell, Darwin G.

doi:10.1109/iros.2013.6696541

Cited by 85 publications

(86 citation statements)

References 28 publications

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“…Works have been carried out in the field in recent years, such as LittleDog (Kolter and Ng, 2011), BigDog (Raibert et al, 2008), HyQ (Boaventura et al, 2013), Tekken (Fukuoka et al, 2003), Cheetahcub (Spröwitz et al, 2013), LS3 (Bloss, 2012) [7], Baby Elephant , MIT Cheetah (Hyun et al, 2014) and so on. Conventionally, trunks of quadruped robots are all designed as a single rigid body or with a passive compliant joint.…”

Section: Introductionmentioning

confidence: 99%

Continuous Static Gait with Twisting Trunk of a Metamorphic Quadruped Robot

Zhang

Dai

2018

Mech. Sci.

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Abstract. The natural quadrupeds, such as geckos and lizards, often twist their trunks when moving. Conventional quadruped robots cannot perform the same motion due to equipping with a trunk which is a rigid body or at most consists of two blocks connected by passive joints. This paper proposes a metamorphic quadruped robot with a reconfigurable trunk which can implement active trunk motions, called MetaRobot I. The robot can imitate the natural quadrupeds to execute motion of trunk twisting. Benefiting from the twisting trunk, the stride length of this quadruped is increased comparing to that of conventional quadruped robots.In this paper a continuous static gait benefited from the twisting trunk performing the increased stride length is introduced. After that, the increased stride length relative to the trunk twisting will be analysed mathematically. Other points impacting the implementation of the increased stride length in the gait are investigated such as the upper limit of the stride length and the kinematic margin. The increased stride length in the gait will lead the increase of locomotion speed comparing with conventional quadruped robots, giving the extent that natural quadrupeds twisting their trunks when moving. The simulation and an experiment on the prototype are then carried out to illustrate the benefits on the stride length and locomotion speed brought by the twisting trunk to the quadruped robot.

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Section: Introductionmentioning

confidence: 99%

Continuous Static Gait with Twisting Trunk of a Metamorphic Quadruped Robot

Zhang

Dai

2018

Mech. Sci.

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“…without any physical spring in their structure. For a more general and extensive review of impedance control in robotics, including fields like haptics and manipulation, please refer to Boaventura et al [6,5]. There exist only a few examples of purely impedance-controlled legs with internal torque control loop in the literature.…”

Section: Legged Robots With Active Impedancementioning

confidence: 99%

“…Our robot has successfully demonstrated various dynamic gaits ranging from fast walking (2 m/s), jumping, rearing to balancing over rough and instable terrain [2]. Recent experimental studies [5] on a single leg of HyQ compared active versus passive impedance and showed that high-performance impedance controllers can satisfactorily emulate passive elements such as spring-dampers. In Sect.…”

Section: Legged Robots With Active Impedancementioning

confidence: 99%

“…impedance control [20], operational space control [25], and virtual model control [28]). Any stiffness and damping (within the limitations of the actuation and control system) can be selected in realtime either for the endeffector or for each joint independently [5]. This approach has most advantages of VSA without the above mentioned limitations.…”

Section: Introductionmentioning

confidence: 99%

“…This approach has most advantages of VSA without the above mentioned limitations. Boaventura et al [5] present an experimental comparison study of active versus passive compliance and show that active impedance systems can emulate passive elements in the dynamic range needed for locomotion and interaction with the environment in general. The performance of the emulation is such that there is no relevant difference between the dynamic behavior of the actively controlled system and its fully passive 'template' system.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Is Active Impedance the Key to a Breakthrough for Legged Robots?

Semini

Barasuol

Boaventura

et al. 2016

Springer Tracts in Advanced Robotics

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This work addresses the question whether active impedance control is key to a breakthrough for legged robots. In this paper, we will talk about controlling the mechanical impedance of joints and legs with a focus on stiffness and damping control. In contrast to passive elements like springs, active impedance is achieved by torque-controlled joints allowing real-time adjustment of stiffness and damping. We argue that legged robots require a high degree of versatility and flexibility to execute a wide range of assistive tasks to be truly useful to humans and thus to lead to a breakthrough. Adjustable stiffness and damping in realtime is a fundamental building block towards versatility. Experiments with our 80 kg hydraulic quadruped robot HyQ demonstrate that active impedance alone (thus no springs in the structure) can successfully emulate passively compliant elements during highly-dynamic locomotion tasks (running and hopping); and, that no springs are needed to protect the actuation system. Here we present results of a flying trot, also referred to as running trot. To the authors' best knowledge this is the first time a flying trot was successfully implemented on a robot without passive elements such as springs. A critical discussion on the pros and cons of active impedance concludes the paper.

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A Review of Quadruped Robots: Structure, Control, and Autonomous Motion

Fan,

Pei,

Wang

et al. 2024

Advanced Intelligent Systems

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With their unique point‐contact ability with the ground and exceptional adaptability to complex terrains, quadruped robots have become a focal point in the fields of automation and robotic engineering. Significant research progress has been made in aspects such as structural design, motion planning, and balance control of these robots. However, a primary challenge in current research lies in further enhancing the dynamic performance, environmental adaptability, and payload capacity. In this article, research achievements in key technical areas of quadruped robots, encompassing structural design, gait planning, traditional control strategies, intelligent control strategies, and autonomous movement, are comprehensively discussed. The focus of the article is on analyzing trends in intelligence and technological innovation within the aforementioned areas, aiming to provide robust theoretical support and forward‐looking technical guidance for quadruped robots research. Additionally, it offers valuable references for scholars engaged in this field.

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Stability and performance of the compliance controller of the quadruped robot HyQ

Cited by 85 publications

References 28 publications

Continuous Static Gait with Twisting Trunk of a Metamorphic Quadruped Robot

Continuous Static Gait with Twisting Trunk of a Metamorphic Quadruped Robot

Is Active Impedance the Key to a Breakthrough for Legged Robots?

A Review of Quadruped Robots: Structure, Control, and Autonomous Motion

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