ICRA 2011 Paper Abstract


Paper TuA1-InteracInterac.10

Wang, Xin (HarbinInstitute of Technology), Li, Mantian (Harbin Institute of Technology), wang, pengfei (The State Key Laboratory of Robotics and System, Harbin Institut), Lining Sun, Sun (the State Key Laboratory of Robotics and System, Robotics Instit)

Running and Turning Control of a Quadruped Robot with Compliant Legs in Bounding Gait

Scheduled for presentation during the Poster Sessions "Interactive Session I: Robotic Technology" (TuA1-InteracInterac), Tuesday, May 10, 2011, 08:20−09:35, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Biomimetics, Multi-legged Robots, Motion Control of Manipulators


In this paper, we introduce a quadruped robot designed for bounding gait with only one actuator per compliant leg. Under the analysis of the dynamics model of the robot, a new simple linear running controller using the energy control idea, which requires minimal task level feedback and only controls both the leg torque and ending impact angle, is proposed. It successfully executes fast running from rest till a constant speed and hi-speed turning, both in the prototype simulation and robot experiment. These results contribute to that complex dynamically dexterous tasks may be controlled via simple energy control method and delayed task feedback, which is closer to the animalís actual locomotion conditions. In the future, we plan to modify this method for reducing the energy expending and make the robot running fast.



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