Dynamic running control of quadrupedal robot using artificial muscle mechanism

Author

Zhang, Zuguang ; Kimura, Hiroshi ; Fukuoka, Yasuhiro

Author_Institution

Univ. of Electro-Commun., Tokyo, Japan

Volume

5

fYear

2002

fDate

5-7 Aug. 2002

Firstpage

2819

Abstract

In this paper, in order to clarify the role of dynamics based control, we conducted research on dynamics of the mechanical system for a quadrupedal robot in jumping locomotion. A control strategy of the mechanical system for Patrush, our quadrupedal robot with compliant legs, was introduced and successfully applied in our research. In addition, we developed a tendon driven mechanism with a flexible pneumatic actuator, by means of which the quadrupedal robot is able to execute a dynamic running gait. MPEG footage of these experiments can be seen at: http://www.kimura.is.uec.ac.jp.

Keywords

control system synthesis; feedforward; legged locomotion; motion control; pneumatic actuators; robot dynamics; Patrush; artificial muscle mechanism; compliant legs; control strategy; dynamic running control; dynamic running gait; dynamics based control; feedforward controller; flexible pneumatic actuator; jumping locomotion; quadrupedal robot; tendon driven mechanism; Actuators; Leg; Legged locomotion; Mechanical systems; Microwave integrated circuits; Muscles; Robot control; Robot sensing systems; Tendons; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE 2002. Proceedings of the 41st SICE Annual Conference

Print_ISBN

0-7803-7631-5

Type

conf

DOI

10.1109/SICE.2002.1195544

Filename

1195544