DocumentCode :
2095079
Title :
Time optimal control for quadruped walking robots
Author :
Osumi, Hisashi ; Kamiya, Shogo ; Kato, Hirokazu ; Umeda, Kazunori ; Ueda, Ryuichi ; Arai, Tamio
Author_Institution :
Fac. of Sci. & Eng., Chuo Univ., Tokyo
fYear :
2006
fDate :
15-19 May 2006
Firstpage :
1102
Lastpage :
1108
Abstract :
Time optimal control method for quadruped walking robots are developed and installed into a practical robot system. Each leg is modeled as a two link manipulator whose time optimal control theory has already been established by Bobrow. However, in legged robot systems, each leg supports their body weight, and the reaction forces from its ground must be inside of their friction corn. Moreover, the ZMP (zero moment point) of the robot is constrained for stable walk. Therefore, time optimal control inputs must be designed considering these constraints. SONY ERS-7 is used as a quadruped walking robot and a fundamental experiment is done. From the experimental results, the effectiveness of the developed control algorithm is verified
Keywords :
legged locomotion; manipulators; multi-robot systems; time optimal control; SONY ERS-7; legged robot systems; quadruped walking robots; time optimal control; two link manipulator; zero moment point; Actuators; Friction; Gravity; Ground support; Leg; Legged locomotion; Manipulators; Mechanical engineering; Optimal control; Robot kinematics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
ISSN :
1050-4729
Print_ISBN :
0-7803-9505-0
Type :
conf
DOI :
10.1109/ROBOT.2006.1641857
Filename :
1641857
Link To Document :
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