Naslov
Stabilizing a Quadruped Robot Locomotion Using a Two Degree of Freedom Tail

Autori
Mutka, Alan ; Orsag, Matko ; Kovačić, Zdenko

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

Izvornik
Proceedings of 21st Mediterranean Conference on Control and Automation / - , 2013, 1336-1342

Skup
21st Mediterranean Conference on Control and Automation

Mjesto i datum
Kreta, Grčka, 06.2013

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Quadruped; Stability; Simulation

Sažetak
This paper investigates how to improve locomotion stability of a dynamical system composed of four springmass subsystems by using a tail-like inertial appendage. The paper presents a Denavit- Hartenberg parameterization based kinematic model combined with a Newton-Euler based dynamic model of a two degree of freedom tail. Impedance based leg control simplifies the leg motion so that it can be modeled as a damped spring-mass system. The tail presented in the paper is used as a counterweight, capable of shifting its center of mass so as to balance the body of the robot. To that end, a recursive algorithm that moves the tail in order to balance the robot is proposed. A realistic robot model is built in the Open Dynamic Engine environment and is used to conduct a series of tests proving the effectiveness of the proposed algorithm.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

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