Naslov
Elliptical Motion Method for Robust Quadrupedal Locomotion

Autori
Mutka, Alan ; Petric, Frano ; Reichenbach, Tomislav ; Kovačić, Zdenko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
2012 IEEE International Conference on Control Applications (CCA) / Bogdan, Stjepan - Zagreb : Institute of Electrical and Electronics Engineers (IEEE), 2012, 1032-1038

ISBN
978-1-4673-4504-0

Skup
2012 IEEE Multi-Conference on Systems and Control

Mjesto i datum
Dubrovnik, Hrvatska, 03.10.2012. - 05.10.2012

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
robotics ; four-legged robots ; walking gait control

Sažetak
In this paper we present a new elliptical motion method that allows integration of different walking gaits with Jacobian-based robot body kinematics. Implemented walk and trot gaits are controlled with a central pattern generator (CPG). By combining these gaits with robot kinematics, robot pose control is enabled during robot motion. The proposed method generates the elliptical type of foot motion independently of possible robot pose changes, which makes robot locomotion very robust to various disturbance effects (e.g. impact of uneven terrain, external forces, and sensor-guided changes of robot posture). The method was implemented and tested on the 13 degrees of freedom (DOF) four-legged robot. The results have confirmed that the robot maintains the desired walking gait while changing its pose in accordance with a task being executed.

Izvorni jezik
Engleski

Znanstvena područja
Temeljne tehničke znanosti

POVEZANOST RADA