ICRA 2012 Paper Abstract

Close

Paper WeA02.2

Boaventura, Thiago (Italian Institute of Technology), Semini, Claudio (Italian Institute of Technology), Buchli, Jonas (Italian Institute of Technology), Frigerio, Marco (University of Genoa and Italian Institute of Technology), Focchi, Michele (Italian Institute of Technology), Caldwell, Darwin G. (Italian Institute of Technology)

Dynamic Torque Control of a Hydraulic Quadruped Robot

Scheduled for presentation during the Regular Session "Multi-Legged Robots" (WeA02), Wednesday, May 16, 2012, 08:45−09:00, Meeting Room 2 (Chief Red Wing)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 18, 2017

Keywords Multi-legged Robots, Force Control, Hydraulic/Pneumatic Actuators

Abstract

Legged robots have the potential to serve as versatile and useful autonomous robotic platforms for use in unstructured environments such as disaster sites. They need to be both capable of fast dynamic locomotion and precise movements. However, there is a lack of platforms with suitable mechanical properties and adequate controllers to advance the research in this direction. In this paper we are presenting results on the novel research platform HyQ, a torque controlled hydraulic quadruped robot. We identify the requirements for versatile robotic legged locomotion and show that HyQ is fulfilling most of these specifications. We show that HyQ is able to do both static and dynamic movements and is able to cope with the mechanical requirements of dynamic movements and locomotion, such as jumping and trotting. The required control, both on hydraulic level (force/torque control) and whole body level (rigid model based control) is discussed.

 

 

Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2017 PaperCept, Inc.
Page generated 2017-11-18  19:11:24 PST  Terms of use