Title :
Stable open loop walking in quadruped robots with stick legs
Author :
Buehler, M. ; Cocosco, A. ; Yamazaki, K. ; Battaglia, R.
Author_Institution :
Center for Intelligent Machines, McGill Univ., Montreal, Que., Canada
Abstract :
In our previous work (1998) we have shown that walking can be implemented on quadrupeds with stiff legs and only one actuated degree of freedom in the hip, based on the concept of controlled momentum transfer. In this paper we show via simulations and experiments on two different quadruped robots that dynamically stable and robust walking can be achieved via an open loop controller which is active only during the back leg support phase
Keywords :
legged locomotion; motion control; robot dynamics; robust control; dynamics; legged locomotion; momentum transfer; open loop walking; quadruped robots; robust control; stability; stick legs; Actuators; Costs; Hip; Leg; Legged locomotion; Open loop systems; Robot sensing systems; Robust control; Robust stability; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770456
