DocumentCode :
601123
Title :
Quadrupedal trotting with active compliance
Author :
Havoutis, I. ; Semini, C. ; Buchli, Jonas ; Caldwell, D.G.
Author_Institution :
Dept. of Adv. Robot., Ist. Italiano di Tecnol. (IIT), Genoa, Italy
fYear :
2013
fDate :
Feb. 27 2013-March 1 2013
Firstpage :
610
Lastpage :
616
Abstract :
We present a trotting controller for a torque controlled quadruped robot. Our approach uses active compliance to overcome difficulties that are crucial for the realisation of symmetric gaits, i.e. force equalization, disturbance rejection and impact absorption. We present a scheme for the compliant control of each leg that is based on a virtual spring abstraction. This active compliance scheme allows us to greatly vary the dynamical behaviour of the system on-the-fly, without altering the physical characteristics of the robot, by changing the parameters of the virtual springs. This way we are able to evaluate a wide range of trotting gaits with varying parametrizations. We report results of robust trotting in various speeds and push recovery in simulation, and continue with results of actively compliant trotting on the real quadruped robot. We further discuss difficulties and limitations with the implementation of such dynamic gait controllers on the real system.
Keywords :
force control; legged locomotion; robot dynamics; torque control; active compliance; compliant control; disturbance rejection; dynamic gait controller; force equalization; gait parametrization; impact absorption; push recovery; robust trotting; symmetric gait; torque controlled quadruped robot; trotting controller; trotting gait; virtual spring abstraction; Force; Hip; Joints; Legged locomotion; Robot kinematics; Springs;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Mechatronics (ICM), 2013 IEEE International Conference on
Conference_Location :
Vicenza
Print_ISBN :
978-1-4673-1386-5
Electronic_ISBN :
978-1-4673-1387-2
Type :
conf
DOI :
10.1109/ICMECH.2013.6519112
Filename :
6519112
Link To Document :
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