Title :
A Controller for the LittleDog Quadruped Walking on Rough Terrain
Author :
Rebula, John R. ; Neuhaus, Peter D. ; Bonnlander, Brian V. ; Johnson, Matthew J. ; Pratt, Jerry E.
Author_Institution :
Florida Inst. for Human & Machine Cognition, Pensacola, FL
Abstract :
We present a controller for a quadrupedal robot statically walking on known rough terrain. The controller has both deliberative and reactive components for task specific control issues, such as impassable terrain and unmodeled foot slippage. The controller architecture supports multiple gaits, and we present both a stable omnidirectional gait and a faster directional gait. The robot successfully negotiates obstacles up to 7.5 cm (ap40% leg length) tall and navigates over rocky terrain.
Keywords :
collision avoidance; image motion analysis; legged locomotion; robot kinematics; robot vision; stability; LittleDog quadruped robot; controller architecture; deliberative components; directional gait; impassable terrain; multiple gait controller; obstacle negotiation; reactive components; rocky terrain; rough terrain; stable omnidirectional gait; static walking; task specific control; unmodeled foot slippage; walking controller; Foot; Knee; Leg; Legged locomotion; Measurement units; Motion control; Navigation; Robot sensing systems; Search problems; Stability;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363191
